Skip to main content
SpringerLink
Log in

Robot path planning optimization for welding complex joints

  • ORIGINAL ARTICLE
  • Published:
The International Journal of Advanced Manufacturing Technology Aims and scope Submit manuscript

Abstract

In robotic welding, the planning and generation of the motion of the welding torch are crucial in welding complex joints. This paper presents an approach for optimal robot path planning of the centroid pass in welding a Y-joint. Relevant data associated with the welding passes is defined and managed to facilitate robot path planning and generation. With properly selected welding torch inclination angles and welding pass segmentation techniques, a solution space containing a number of robot paths is generated to account for functional redundancy and different welding robot configurations. A solution with minimum joint movement is determined using a beam search algorithm as the optimal robot path for each welding pass segment. A case study of robot path planning of the centroid pass of a scaled-down Y-joint is simulated and discussed.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Lin W, Luo H (2015) Robotic welding. In: Nee AYC (ed) Springer handbook of manufacturing engineering and technology: robotics and automation. Springer-Verlag, London, pp. 2404–2444

    Google Scholar 

  2. Ang MH Jr, Lin W, Lim SY (1999) A walk-through programmed robot for welding in shipyards. Ind Robot: An Int J 26(5):377–388

    Article  Google Scholar 

  3. Chen CL, Hu SS, He DL, Shen JQ (2013) An approach to the path planning of tube–sphere intersection welds with the robot dedicated to J-groove joints. Robot Comput Integr Manuf 29(4):41–48

    Article  Google Scholar 

  4. Shi L, Tian XC (2015) Automation of main pipe-rotating welding scheme for intersecting pipes. Int J Adv Manuf Technol 77(5):955–964

    Article  Google Scholar 

  5. Shi L, Tian XC, Zhang CH (2015) Automatic programming for industrial robot to weld intersecting pipes. Int J Adv Manuf Technol 81(9):2099–2107

    Article  Google Scholar 

  6. Pires JN, Loureiro A, Bölmsjo G (2006) Welding robots: technology, system issues and application. Springer-Verlag Limited, London

    Google Scholar 

  7. Mavrikios D, Karabatsou V, Fragos D, Chryssolouris G (2006) A prototype virtual reality-based demonstrator for immersive and interactive simulation of welding processes. Int J Comput Integr Manuf 19(3):294–300

    Article  Google Scholar 

  8. Liu ZY, Bu WH, Tan JR (2010) Motion navigation for arc welding robots based on feature mapping in a simulation environment. Robot Comput Integr Manuf 26(2):137–144

    Article  Google Scholar 

  9. Tsai MJ, Lin S-D, Chen M-C (1992) Mathematical model for robotic arc-welding off-line programming system. Int J Comput Integr Manuf 5(4–5):300–309

    Article  Google Scholar 

  10. Yang CD, Ye Z, Chen YX, Zhong JY, Chen SB (2014) Multi-pass path planning for thick plate by DSAW based on vision sensor. Sens Rev 34(4):416–423

    Article  Google Scholar 

  11. Chen SB, Chen XZ, Qiu T, Li JQ (2005) Acquisition of weld seam dimensional position information for arc welding robot based on vision computing. J Intell Robot Syst 43(1):77–97

    Article  Google Scholar 

  12. Chen XZ, Huang YM, Chen SB (2012) Model analysis and experimental technique on computing accuracy of seam spatial position information based on stereo vision for welding robot. Ind Robot: An Int J 39(4):349–356

    Article  Google Scholar 

  13. He YS, Xu YL, Chen YX, Chen HB, Chen SB (2016) Weld seam profile detection and feature point extraction for multi-pass route planning based on visual attention model. Robot Comput Integr Manuf 37(2):251–261

    Article  Google Scholar 

  14. Zhang HJ, Lu HZ, Cai CB, Chen SB (2010) Robot path planning in multi-pass weaving welding for thick plates. In: Tarn TJ, Chen SB, Fang G (eds) Robotic welding, intelligence and automation (LNEE 88). Springer-Verlag, Berlin, pp. 351–359

    Google Scholar 

  15. Xiong J, Zhang GJ, Hu JW, Wu L (2014) Bead geometry prediction for robotic GMAW-based rapid manufacturing through a neural network and a second-order regression analysis. J Intell Manuf 25(1):157–163

    Article  Google Scholar 

  16. Lin H-L (2012) The use of the Taguchi method with grey relational analysis and a neural network to optimize a novel GMA welding process. J Intell Manuf 23(5):1671–1680

    Article  Google Scholar 

  17. Chen HT, Li HC, Gao HM, Wu L (2015) Study on path planning and compensation of off-line programming for thick walled curve welding. China Weld 24(4):69–73

    Google Scholar 

  18. Yan, S.J., Ong, S.K., Nee, A.Y.C. (2016) Optimal pass planning for robotic welding of large-dimension joints with deep grooves, In: Proceedings of 9th International Conference on Digital Enterprise Technology (DET2016)—Intelligent Manufacturing in the Knowledge Economy Era, 29–31 March 2016, Nanjing, China.

  19. Ahmed, S.M., Yuan, J.Q., Wu, Y., Chew, C.M., Pang, C.K. (2015) Collision-free path planning for multi-pass robotic welding, In: Proceedings of 2015 I.E. 20th Conference on Emerging Technologies and Factory Automation, 8–11 September 2015, Luxembourg.

  20. Huo L, Baron L (2008) The joint-limits and singularity avoidance in robotic welding. Ind Robot: An Int J 35(5):456–464

    Article  Google Scholar 

  21. Huo L, Baron L (2011) The self-adaptation of weights for joint-limits and singularity avoidances of functionally redundant robotic-task. Robot Comput Integr Manuf 27(2):367–376

    Article  Google Scholar 

  22. Ogbemhe J, Mpofu K (2015) Towards achieving a fully intelligent robotic arc welding: a review. Ind Robot: An Int J 42(5):475–484

    Article  Google Scholar 

  23. Yahşi OS, Özgören K (1984) Minimum joint motion optimization of manipulators with extra degrees of freedom. Mech Mach Theory 19(3):325–330

    Article  Google Scholar 

  24. Rampaul H (2002) Pipe welding procedure, 2nd edn. Industrial Press, New York

    Google Scholar 

  25. Hayes MJD, Husty ML, Zsombor-Murray PJ (2002) Singular configurations of wrist-partitioned 6R serial robots: a geometric perspective for users. Trans Can Soc Mech Eng 26(1):41–55

    Google Scholar 

  26. Chong JWS, Ong SK, Nee AYC, Youcef-Youmi K (2009) Robot programming using augmented reality: an interactive method for planning collision-free paths. Robot Comput Integr Manuf 25(3):689–701

    Article  Google Scholar 

  27. Hornung A, Wurm KM, Bennewitz M, Stachniss C, Burgard W (2013) OctoMap: an efficient probabilistic 3D mapping framework based on octrees. Auton Robot 34(3):189–206

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Mechanical Engineering Department, Faculty of Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore, 117575, Singapore

    HC Fang, SK Ong & AYC Nee

Authors
  1. HC Fang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. SK Ong
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. AYC Nee
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to SK Ong.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Fang, H., Ong, S. & Nee, A. Robot path planning optimization for welding complex joints. Int J Adv Manuf Technol 90, 3829–3839 (2017). https://doi.org/10.1007/s00170-016-9684-z

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00170-016-9684-z

Keywords

Search

Navigation