Workspace analysis to generate a collision-free torch path for a ship welding robot |
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| Authors: | Lae-hyung Ryu Tae-wan Kim Min-jae Oh Nam-kug Ku Kyu-yeul Lee |
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| Affiliation: | (1) Automation R&D Institute, Daewoo Shipbuilding and Marine Engineering Co., Ltd., Siheung, Kyunggi-do, Korea;(2) Department of Naval Architecture and Ocean Engineering, Research Institute of Marine Systems Engineering, Seoul National University, Seoul, Korea;(3) Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, Korea |
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| 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. |
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| Keywords: | Initial location Torch path Welding posture inspection Collision detection Manipulability measure Variations of each joint angle Genetic algorithm |
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