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Industrial robot motion control for joint tracking in laser welding
University West, Department of Engineering Science, Division of Mechanical Engineering and Natural Sciences.
2016 (English)Independent thesis Advanced level (degree of Master (One Year)), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

Laser welding is used in modern industrial production due to its high welding speed and good welding performance comparing to more traditional arc welding. To improve the flex-ibility, robots can be used to mount the laser tool. However, laser welding has a high require-ment for the accuracy in positioning the laser tool. There are three main related variables which affect the laser welding accuracy: robot path accuracy, workpiece geometry and fixture repeatability. Thus, joint tracking is very important for laser welding to achieve high quality welds.

There are many joint tracking systems which were proposed in recent years. After receiv-ing the joint information, a control system is necessary to control the robot motion in real-time. The open control system for the industrial robot is one trend for the future. A lot of methods and systems are proposed to control the robot motion. Some systems can achieve a high accuracy in the experiments. However, it is still hard to apply them in practical indus-trial production. Thus more commercial solutions appear to overcome the robot motion problem nowadays. They are very useful to realize practical applications.

ABB EGM path correction module, a new function of Robotware, is one of the com-mercial solutions for robot motion control in real time. In the experiments presented in this work, a computer is used to simulate a sensor to create a path correction signal.

To test its feasibility for the laser welding application, many experiments are conducted. One was to test the robot path repeatability when there is no correction message sent to the robot. Another was to test the level of accuracy EGM can achieve during the correction process. Different types of paths and three different speeds were separately carried out. The results showed that it is possible to use the EGM in the laser welding application. In the EGM feasibility test, there exists deviation in the z-direction. Since these deviations are less than 0.2mm, it will have a minor influence the laser welding performance, implying that the EGM path correction can be applied in practical production.

Place, publisher, year, edition, pages
2016. , 37 p.
Keyword [en]
Robot motion control, Real-time, Laser welding, EGM, Joint tracking
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:hv:diva-10365Local ID: EXM960OAI: oai:DiVA.org:hv-10365DiVA: diva2:1059248
Subject / course
Robotics
Educational program
Robotteknik
Supervisors
Examiners
Available from: 2016-12-22 Created: 2016-12-21 Last updated: 2016-12-22Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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