Model and simulation of tracking motion for accurate welding using a universal Cobot

Abstract

Welding is a process that requires the skill and time of a professionally-trained welder. However, this welding performance is not highly productive. Therefore, in this paper, the control approach of a 6-DOF collaborative robot (Cobot) arm is investigated in the application of a MIG (metal inert gas). By studying the trajectory generation algorithm, the Cobot can be used to track the welding curve. A theoretical model of the 6-DOF Cobot arm is successfully established in 3D space. Then, the results to validate the method according to the welding trajectory are presented in numerical simulations. It can be clearly seen that our approach shows great position-controlled ability. From these achievements, the applications of this Cobot are expected to be implemented in many industrial fields.