한국공작기계학회논문집 (Transactions of the Korean Society of Machine Tool Engineers)

한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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Bezier Spline을 이용한 용접 로봇의 새로운 Weaving Motion 궤적 생성 알고리즘

A New Planning Algorithm of Weaving Trajectory Using Bezier Spline for A Welding Robot

  • 정원지 (창원대학교 기계설계공학과) ;
  • 김대영 (창원대학교 기계설계공학과 대학) ;
  • 서영교 (두산메카텍(주)연구개발) ;
  • 홍형표 (두산메카텍(주)연구개발) ;
  • 홍대선 (창원대학교 기계설계공학과)
  • 발행 : 2004.06.01
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초록

In this paper, we propose a new weaving trajectory algorithm for the arc welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. Through simulations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning so that it's trajectory cannot penetrate into a base metal compared to the conventional algorithm using Catmull-Rom curve.

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참고문헌

  1. Computer Graphics and Geometric Modeling for Engineers Lee, H. C.;Chae, S. W.;Choi, Y.
  2. Lecture notes in computer science Matrix Model of Robot in Matlab Simulink Solc, F.
  3. Transactions of the Korean Society of Machine Tool Engineers v.10 no.2 Generation of Constant Orientation in Industrial Robot Yi, S. H.;Yang, S. H.;Park, Y. K.
  4. Summer Workshop, Research Center for New Technology of Control and Instrumentation Weaving Generation Technology I Suh, I. H.;Yuh, H. J.;Eum, K. S.
  5. Winter Workshop, Research Center for New Technology of Control and Instrumentation Weaving Generation Technology II Suh, I. H.;Yuh, H. J.;Eum, K. S.