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:
- The positioner either rotates at a constant angle increment or adjusts the workpiece to an approximate position, after which it remains fixed.
- Based on the rotation angle of the positioner, I use forward kinematics to compute the welding trajectory.
- 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.
