3-dimensional formation system using a robot hand

In this paper we propose a 3-dimensional formation system using an arc welding robot. The principle of our system is just only to accumulate welding beads, so that the target 3-dimensional surfaces can be built up. Considering the effects of the gravity on the arc welding, the welding torch is steadily clamped and the position and the posture of the target board on which target work is formed is controlled by a 6-axis robot hand. Movements of the target board are controlled considering the 3dimensional shape of the target and the accumulating speed of the welding bead. In order to realize such systems, a distance sensor is mounted on the tip of the robot hand. And a coordinate transformation technique is employed