協調動作する２台のロボットへのアークセンサの適用に関する研究

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書誌事項

タイトル別名
  • Application of Arc Sensor on Coordinated Motion of Two Robots.
  • キョウチョウ ドウサスル 2ダイ ノ ロボット エ ノ アーク センサ ノ テ

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説明

Owing to the gravity, the performance of the arc welding is strongly effected by the posture of the welding target as well as the posture of the welding torch. Therefore, it is desired to move the welding target and the welding torch coordinately. One welding system to realize such coordinated movements employing two industrial playback robots was proposed. In this paper, one method to use an arc sensor is presented which compensates the teaching error and the deformation of the welding target those are inevitable for the playback robot system. The arc sensor corrects the coordinated movements so that the welding torch traces the welding groove accurately. The proposed method proved to work efficiently by experiments.

収録刊行物

  • 精密工学会誌

    精密工学会誌 60 (6), 863-866, 1994

    公益社団法人 精密工学会

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