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Six DOF robot: inverse kinematics solution to path planning for intersecting pipes for welding operation and inverse Jacobian comparison
Robot's movement along a continuous path, point-to-point operations are programmed. In continuous path welding operation, the path is planned at the identified weld seam. This paper deals with inverse Kinematics and inverse Jacobian approaches for welding path planning of intersecting pipe models. The straight, circular and axi-symmetric pipe models were considered for welding operation. The intersecting curve equations based on the model have been produced which is the path of welding robot. The welding paths by Kuka KR5 Arc Robot were computed, simulated and analyzed in both MATLAB and RoboAnalyzer software. Both Inverse Kinematics and Inverse Jacobian methods were compared graphically and numerically. It was found that, the resulting weld path geometries were similar in both methods. However very less errors and very close to expected positions during the path tracing were observed in inverse Kinematics approach as compared to inverse Jacobian method where errors were higher due to its intrinsic linear interpolation nature in path tracing.
Six DOF robot: inverse kinematics solution to path planning for intersecting pipes for welding operation and inverse Jacobian comparison
Robot's movement along a continuous path, point-to-point operations are programmed. In continuous path welding operation, the path is planned at the identified weld seam. This paper deals with inverse Kinematics and inverse Jacobian approaches for welding path planning of intersecting pipe models. The straight, circular and axi-symmetric pipe models were considered for welding operation. The intersecting curve equations based on the model have been produced which is the path of welding robot. The welding paths by Kuka KR5 Arc Robot were computed, simulated and analyzed in both MATLAB and RoboAnalyzer software. Both Inverse Kinematics and Inverse Jacobian methods were compared graphically and numerically. It was found that, the resulting weld path geometries were similar in both methods. However very less errors and very close to expected positions during the path tracing were observed in inverse Kinematics approach as compared to inverse Jacobian method where errors were higher due to its intrinsic linear interpolation nature in path tracing.
Six DOF robot: inverse kinematics solution to path planning for intersecting pipes for welding operation and inverse Jacobian comparison
Int J Interact Des Manuf
Somasundar, Avantsa V. S. S. (author) / Yedukondalu, G. (author)
2024-07-01
10 pages
Article (Journal)
Electronic Resource
English
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