Mathematical model for robotic arc-welding off-line programming system

Abstract

Abstract The use of industrial robots for welding automation is a major and expanding applications area. In a welding task, the robot should smoothly trace along the weldseam with appropriate tool poses. For welding a complex 3-D curve, a large number of points should be taught to make the weld path smooth. This is a very tedious job and is not an easy way to leach the robot. In this paper, the requirements of a CAD system to be used as a robotic off-line arc-welding programming system are discussed. An off-line programming system for such application was developed. The workpieces and the weldseam were represented by analytical geometries. The positions and orientations of the weldgun along the trajectory were analysed by the task requirement of the welding procedure and solved by differential geometry. Calibration process was discussed to ensure programs were properly executed. This system is especially useful for off-line programming for the welding of complex 3-D curves.