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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)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.13, no.3, 2004 , pp. 113-118 More about this Journal
Abstract
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.
Keywords
6-axis Articulated Manipulator; Weaving Trajectory; Simple Weaving; Triangular Weaving; Bezier Spline; Catmull-Rom Curve; Base metal;
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