We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
Workspace analysis to generate a collision-free torch path for a ship welding robot.
- Authors
Ryu, Lae-hyung; Kim, Tae-wan; Oh, Min-jae; Ku, Nam-kug; Lee, Kyu-yeul
- Abstract
Abstract We propose a method to determine the optimal initial location and to generate torch paths for a ship welding robot with 6 degrees of freedom (DOF). The optimal initial location is determined using an objective function, which is set up by combining constraints on the torch posture, manipulability, and the range of each joint angle to avoid collisions. A genetic algorithm (GA) is used to optimize the objective function because it does not require additional derivatives. After the initial location is determined, torch paths are generated by interpolating the starting point, endpoints and torch postures using inverse kinematics. Our method can be applied to automate the welding job for each block during ship building, irrespective of the shape of the robots, by changing the objective function.
- Subjects
SHIPS; INDUSTRIAL robots; DEGREES of freedom; COLLISIONS at sea prevention; GENETIC algorithms; MATHEMATICAL optimization; SHIPBUILDING; KINEMATICS; WELDING
- Publication
Journal of Marine Science & Technology, 2009, Vol 14, Issue 3, p345
- ISSN
0948-4280
- Publication type
Article
- DOI
10.1007/s00773-009-0054-5