The paper discusses a few theoretical, numerical and practical aspects involved with the motion of an industrial robot over trajectories at very low speed, which is a common duty- mainly for employment in arc welding. In the first part some details on the technological implementation of the arc welding and dedicated trajectories are reported, with special reference to the weaving motion. A custom-made aloorithm able to overcome a few significant problems is then proposed. The algorithm is finalHv tested on a 6-axes industrial robot and a number of relevant results are shown for trajectories ranging in the field 5-15 mm/s, including a test based on an adapti've procedure and a comparison with standard industrial controller. A final discussion on the results completes the presentation.
Control Strategies for Very Low Speed Trajectories
BASSI, EZIO;BENZI, FRANCESCO;
2004-01-01
Abstract
The paper discusses a few theoretical, numerical and practical aspects involved with the motion of an industrial robot over trajectories at very low speed, which is a common duty- mainly for employment in arc welding. In the first part some details on the technological implementation of the arc welding and dedicated trajectories are reported, with special reference to the weaving motion. A custom-made aloorithm able to overcome a few significant problems is then proposed. The algorithm is finalHv tested on a 6-axes industrial robot and a number of relevant results are shown for trajectories ranging in the field 5-15 mm/s, including a test based on an adapti've procedure and a comparison with standard industrial controller. A final discussion on the results completes the presentation.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
