Implementation of a generic algorithm for robotic welding programming

Kristinn Andersen; Saleh Zein-Sabattou; George E. Cook; Kenneth Fernandez

Implementation of a generic algorithm for robotic welding programming

Kristinn Andersen
, Saleh Zein-Sabattou
, George E. Cook
, Kenneth Fernandez

Faculty of Electrical and Computer Engineering

University of Iceland

Research output: Contribution to journal › Conference article › peer-review

Abstract

A methodology for programming a redundant, multiple-robot system for concurrent motion is discussed. A general programming algorithm is proposed which allows the user to treat multiple robots as a single kinematic mechanism. The algorithm eliminates joint redundancy by imposing task-specific constraints on the manipulator motions. As a result the programming process is greatly simplified. The authors review the algorithm and demonstrate its use for robotic gas tungsten arc welding where appropriate constraints are imposed. Implementation and simulation results are presented.

Original language	English
Pages (from-to)	134-139
Number of pages	6
Journal	Conference Proceedings - IEEE SOUTHEASTCON
Volume	1
Publication status	Published - Apr 1989
Event	Energy and Information Technology in the Southeast - Columbia, SC, USA Duration: 9 Apr 1989 → 12 Apr 1989

Cite this

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title = "Implementation of a generic algorithm for robotic welding programming",

abstract = "A methodology for programming a redundant, multiple-robot system for concurrent motion is discussed. A general programming algorithm is proposed which allows the user to treat multiple robots as a single kinematic mechanism. The algorithm eliminates joint redundancy by imposing task-specific constraints on the manipulator motions. As a result the programming process is greatly simplified. The authors review the algorithm and demonstrate its use for robotic gas tungsten arc welding where appropriate constraints are imposed. Implementation and simulation results are presented.",

author = "Kristinn Andersen and Saleh Zein-Sabattou and Cook, \{George E.\} and Kenneth Fernandez",

year = "1989",

month = apr,

language = "English",

volume = "1",

pages = "134--139",

journal = "Conference Proceedings - IEEE SOUTHEASTCON",

issn = "0734-7502",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Energy and Information Technology in the Southeast ; Conference date: 09-04-1989 Through 12-04-1989",

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TY - JOUR

T1 - Implementation of a generic algorithm for robotic welding programming

AU - Andersen, Kristinn

AU - Zein-Sabattou, Saleh

AU - Cook, George E.

AU - Fernandez, Kenneth

PY - 1989/4

Y1 - 1989/4

N2 - A methodology for programming a redundant, multiple-robot system for concurrent motion is discussed. A general programming algorithm is proposed which allows the user to treat multiple robots as a single kinematic mechanism. The algorithm eliminates joint redundancy by imposing task-specific constraints on the manipulator motions. As a result the programming process is greatly simplified. The authors review the algorithm and demonstrate its use for robotic gas tungsten arc welding where appropriate constraints are imposed. Implementation and simulation results are presented.

AB - A methodology for programming a redundant, multiple-robot system for concurrent motion is discussed. A general programming algorithm is proposed which allows the user to treat multiple robots as a single kinematic mechanism. The algorithm eliminates joint redundancy by imposing task-specific constraints on the manipulator motions. As a result the programming process is greatly simplified. The authors review the algorithm and demonstrate its use for robotic gas tungsten arc welding where appropriate constraints are imposed. Implementation and simulation results are presented.

UR - https://www.scopus.com/pages/publications/0024647295

M3 - Conference article

SN - 0734-7502

VL - 1

SP - 134

EP - 139

JO - Conference Proceedings - IEEE SOUTHEASTCON

JF - Conference Proceedings - IEEE SOUTHEASTCON

T2 - Energy and Information Technology in the Southeast

Y2 - 9 April 1989 through 12 April 1989

ER -

Implementation of a generic algorithm for robotic welding programming

Abstract

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