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How to determine the best turning angle of the positioner when the robot and the positioner move together

  • xianyv
  • October 14, 2024 at 3:30 PM
  • Thread is Unresolved
  • xianyv
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    • October 14, 2024 at 3:30 PM
    • #1
    KUKA Robots for the Welding Industry
    Arc welding of two KUKA KR 5 arc HW robots- - - -Schutzgasschweißen von zwei KUKA KR 5 arc HW Robotern
    www.youtube.com

    Dear Forum Members,

    I am currently working on a welding project that utilizes a combination of a robot and a positioner. The collaborative motion method I am employing right now consists of the following steps:

    1. The positioner either rotates at a constant angle increment or adjusts the workpiece to an approximate position, after which it remains fixed.
    2. Based on the rotation angle of the positioner, I use forward kinematics to compute the welding trajectory.
    3. While this method works for relatively simple workpieces, it limits the complexity of the welds I can perform.

    My goal is to enable the positioner to vary its rotation angle increment, thereby allowing more flexibility and higher-quality welds, similar to what is seen in the video linked above

    Specifically, I’m looking for advice on how to compute the optimal rotation angle increment for the positioner. If anyone has experience with solving this kind of collaborative motion optimization or has worked with similar setups, I would greatly appreciate your insights.

    Thank you in advance for your help and suggestions.

  • Fubini
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    • October 14, 2024 at 6:45 PM
    • #2

    Why do you not define a external base moving with the external axes and let the robot controller do the job? No need to calculate this manually in my opinion.

    Fubini

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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
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  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
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  • robotstudio
  • RSI
  • safety
  • Siemens
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  • tcp
  • TCP/IP
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  • vision
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  • workvisual
  • yaskawa
  • YRC1000

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