Workspace analysis to generate a collision-free torch path for a ship welding robot

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, a...

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Bibliographic Details
Published in:Journal of marine science and technology 2009-09, Vol.14 (3), p.345-358
Main Authors: Ryu, Lae-hyung, Kim, Tae-wan, Oh, Min-jae, Ku, Nam-kug, Lee, Kyu-yeul
Format: Article
Language:English
Subjects:
Automotive Engineering
Collision avoidance
Derivatives
Engineering
Engineering Design
Engineering Fluid Dynamics
Genetic algorithms
Mechanical Engineering
Objective function
Offshore Engineering
Optimization
Original Article
Position (location)
Posture
Robotics
Robots
Ships
Studies
Welding
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Summary: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.
ISSN:0948-4280
1437-8213
DOI:10.1007/s00773-009-0054-5