Localization and tracking control for mobile welding robot

2014 ◽  
Vol 41 (3) ◽  
pp. 259-265 ◽  
Author(s):  
Qing Tang
Keyword(s):  
Steel Structure ◽  
Tracking Algorithm ◽  
Laser Sensor ◽  
Localization Algorithm ◽  
Welding Robot ◽  
Content Type ◽  
Mobile Welding Robot ◽  
Barbalat Lemma ◽  
Straight Lines ◽  
Localization And Tracking

Purpose – The purpose of this paper is to design the localization and tracking algorithms for our mobile welding robot to carry out the large steel structure welding operations in industrial environment. Design/methodology/approach – Extended Kalman filter, considering the bicycle-modeled robot, is adopted in the localization algorithm. The position and orientation of our mobile welding robot is estimated using the feedback of the laser sensor and the robot motion commands history. A backstepping variable is involved in the tracking algorithm. By introducing a specifically selected Lyapunov function, we proved the tracking algorithm using Barbalat Lemma, which leads the errors of estimated robot states to converge to zero. Findings – The experiments show that the proposed localization method is fast and accurate and the tracking algorithm is robust to track straight lines, circles and other typical industrial curve shapes. The proposed localization and tracking algorithm could be used, but not limited to the mobile welding. Originality/value – Localization problem which is neglected in previous research is very important in mobile welding. The proposed localization algorithm could estimate the robot states timely and accurately, and no additional sensors are needed. Furthermore, using the estimated robot states, we proposed and proved a tracking algorithm for bicycle-modeled mobile robots which could be used in welding as well as other industrial operation scenarios.

Motion planning for a new-model obstacle-crossing mobile welding robot

2014 ◽  
Vol 41 (1) ◽  
pp. 87-97 ◽  
Author(s):  
Tao Zhang ◽  
Minghui Wu ◽  
Yanzheng Zhao ◽  
Shanben Chen
Keyword(s):  
Motion Planning ◽  
Welding Speed ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Special Method ◽  
Welding Robot ◽  
Obstacle Crossing ◽  
Content Type ◽  
New Model ◽  
Mobile Welding Robot

Purpose – The purpose of this paper is to discuss motion planning about crossing obstacles and welding trajectory for a new-model mobile obstacle-crossing welding robot system. The robot can cross the obstacle in this way that one of the three adhesion mobile parts is pulled off the ground in turn. An optimal obstacle-crossing approach needs to be studied to improve the welding efficiency. Design/methodology/approach – According to the characteristics of this mobile welding robot, two methods for crossing obstacles are compared. A special method is used for obstacle-crossing and welding. The kinematic model is established. By the optimization method, the optimum parameters for crossing obstacles are calculated. The welding speed when the robot is crossing the obstacle is very important, so its value must be in a certain range. Finally, the tracks of the wheels when the robot is crossing the obstacle are analyzed in order to observe the obstacle-crossing process. Findings – According to the analysis, the maximum speed of the vehicle in the obstacle-crossing is determined. When crossing the obstacle, the robot can do welding simultaneously. The welding speed cannot exceed a certain value. In the obstacle-crossing process, the tracks of the wheels can reflect the process. According to the obtained conclusion, the obstacle-crossing experiments are successfully completed, and the welding effect is good. The results can prove that the proposed method is feasible. Research limitations/implications – The speed of obstacle-crossing is not very large. It has some relationships with the lifting speed of the wheels, which is determined by the quality of drive motor. More efficient robot must be developed to meet the needs of industrial robot. Practical implications – Based on the excellent obstacle-crossing and welding capabilities, the robot with the new mechanism has a widely applying prospect in the field of welding and inspecting large equipment. Originality/value – The obstacle-crossing approach has certain innovation. The way that the robot can maintain continuous welding when crossing the obstacle is of a great significance.

Design and experimental verification of an intelligent wall-climbing welding robot system

2014 ◽  
Vol 41 (6) ◽  
pp. 500-507 ◽  
Author(s):  
Zhongcheng Gui ◽  
Yongjun Deng ◽  
Zhongxi Sheng ◽  
Tangjie Xiao ◽  
Yonglong Li ◽  
...  
Keyword(s):  
Control System ◽  
Large Scale ◽  
Steel Structure ◽  
Steel Structures ◽  
Seam Tracking ◽  
Automatic Welding ◽  
Welding Robot ◽  
Robot System ◽  
Content Type ◽  
Robot Body

Purpose – This paper aims to present a new intelligent wall-climbing welding robot system for large-scale steel structure manufacture, which is composed of robot body, control system and welding system. Design/methodology/approach – The authors design the robot system according to application requirements, validate the design through simulation and experiments and use the robot in actual production. Findings – Experimental results show that the robot system satisfies the demands of automatic welding of large-scale ferromagnetic structure, which contributes much to on-site manufacturing of such structures. Practical implications – The robot can work with better quality and efficiency compared with manual welding and other semi-automatic welding devices, which can much improve large-scale steel structure manufacturing. Originality/value – The robot system is a novel solution for large-scale steel structures welding. There are three major advantages: the robot body with reliable adsorption ability, large payload capability and good mobility which meet the requirements of welding; the control system with good welding seam tracking accuracy and intelligent automatic welding ability; and friendly human – computer interface which makes the robot easy to use.

scholarly journals Multisensor-Based Target-Tracking Algorithm with Out-of-Sequence-Measurements in Cluttered Environments

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 4043 ◽  
Author(s):  
Ihsan Ullah ◽  
Muhammad Qureshi ◽  
Uzair Khan ◽  
Sufyan Memon ◽  
Yifang Shi ◽  
...  
Keyword(s):  
High Speed ◽  
Tracking System ◽  
Tracking Algorithm ◽  
Localization Algorithm ◽  
Target Engagement ◽  
Tracking Accuracy ◽  
Cluttered Environments ◽  
Remote Observation ◽  
Improved Performance ◽  
Localization And Tracking

A localization and tracking algorithm for an early-warning tracking system based on the information fusion of Infrared (IR) sensor and Laser Detection and Ranging (LADAR) is proposed. The proposed Kalman filter scheme incorporates Out-of-Sequence Measurements (OOSMs) to address long-range, high-speed incoming targets to be tracked by networked Remote Observation Sites (ROS) in cluttered environments. The Rauch–Tung–Striebel (RTS) fixed lag smoothing algorithm is employed in the proposed technique to further improve tracking accuracy, which, in turn, is used for target profiling and efficient filter initialization at the targeted platform. This efficient initialization increases the probability of target engagement by increasing the distance at which it can be effectively engaged. The increased target engagement range also reduces risk of any damage from debris of the engaged target. Performance of the proposed target localization algorithm with OOSM and RTS smoothing is evaluated in terms of root mean square error (RMSE) for both position and velocity, which accurately depicts the improved performance of the proposed algorithm in comparison with existing retrodiction-based OOSM filtering algorithms. The effects of assisted target state initialization at the targeted platform are also evaluated in terms of Time to Impact (TTI) and true track retention, which also depict the advantage of the proposed strategy.

Development of a mobile welding robot for double-hull structures in shipbuilding

2010 ◽  
Vol 15 (4) ◽  
pp. 374-385 ◽  
Author(s):  
Namkug Ku ◽  
Ju-hwan Cha ◽  
Kyu-Yeul Lee ◽  
Jongwon Kim ◽  
Tae-wan Kim ◽  
...  
Keyword(s):  
Welding Robot ◽  
Mobile Welding Robot ◽  
Double Hull

Experimental investigation of effect of balloon length on yarn tension during unwinding

2019 ◽  
Vol 31 (4) ◽  
pp. 495-509
Author(s):  
Ozge Celik ◽  
Recep Eren
Keyword(s):  
Process Efficiency ◽  
Laser Sensor ◽  
Content Type ◽  
Yarn Tension ◽  
Tension Change ◽  
Spun Yarns ◽  
Continuous Filament ◽  
Set Up ◽  
Different Diameters ◽  
Tension Control System

Purpose Yarns of different types are unwound from bobbins in different processes like warping, weaving, doubling and re-winding. It is required that yarn tension remains constant during unwinding in all these processes. Otherwise, it ends with product quality and process efficiency problems. The purpose of this paper is to investigate experimentally the effect of balloon length on yarn tension change with respect to bobbin diameter during unwinding in an attempt to obtain a minimum yarn tension variation. Design/methodology/approach An experimental set up was built. Bobbin diameter was measured by a laser sensor and yarn tension was measured by a single yarn tension sensor. Both sensor outputs were interfaced to a PC via a DAQ cad. A software program was developed in C programming language to read and record the tension and bobbin diameter simultaneously. Experimental study was conducted with three different balloon lengths for both continuous filament and spun yarns of four different yarn numbers and five different unwinding speeds. Findings Results showed that yarn tension change with bobbin diameter was affected in different ways with balloon length depending on yarn number, unwinding speed and yarn type. Originality/value Available literature on the effect of balloon length on yarn tension bobbin diameter relation is limited and measurements were generally conducted for three different bobbin diameters. Yarn tension bobbin diameter relation is obtained in this research for at least eight different diameters and more for three different balloon lengths covering practical application ranges. The results obtained can be used in the design of tension control system for warping and winding machines as well as for setting these machines for optimum efficiency.

Welding Robot Welding Process Research and Development of Intelligent Technology

2013 ◽  
Vol 419 ◽  
pp. 774-777
Author(s):  
Ji Ming Yi ◽  
Min Han
Keyword(s):  
Vision System ◽  
Welding Process ◽  
Depth Information ◽  
Laser Sensor ◽  
Automatic Welding ◽  
Welding Robot ◽  
Existing Problems ◽  
Intelligent Technology ◽  
Welding Direction ◽  
Binocular Vision System

The welding direction of robot and existing problems, the groove plate is difficult to realize automatic welding robot problem, methods using laser sensor and a binocular vision system combines, image and depth information extraction plate groove groove, realize accurate 3D reconstruction.

Welding seam recognition and tracking for a novel mobile welding robot based on multi-layer sensing strategy

2021 ◽  
Author(s):  
Chao Liu ◽  
Hui Wang ◽  
Yu Huang ◽  
Youmin Rong ◽  
Jie Meng ◽  
...  
Keyword(s):  
Seam Tracking ◽  
Sensor System ◽  
Vision Sensor ◽  
Welding Robot ◽  
Welding Seam ◽  
Localization And Mapping ◽  
Laser Vision Sensor ◽  
Tracking Ability ◽  
Mobile Welding Robot ◽  
Laser Vision

Abstract Mobile welding robot with adaptive seam tracking ability can greatly improve the welding efficiency and quality, which has been extensively studied. To further improve the automation in multiple station welding, a novel intelligent mobile welding robot consists of a four-wheeled mobile platform and a collaborative manipulator is developed. Under the support of simultaneous localization and mapping (SLAM) technology, the robot is capable of automatically navigating to different stations to perform welding operation. To automatically detect the welding seam, a composite sensor system including an RGB-D camera and a laser vision sensor is creatively applied. Based on the sensor system, the multi-layer sensing strategy is performed to ensure the welding seam can be detected and tracked with high precision. By applying hybrid filter to the RGB-D camera measurement, the initial welding seam could be effectively extracted. Then a novel welding start point detection method is proposed. Meanwhile, to guarantee the tracking quality, a robust welding seam tracking algorithm based on laser vision sensor is presented to eliminate the tracking discrepancy caused by the platform parking error, through which the tracking trajectory can be corrected in real-time. The experimental results show that the robot can autonomously detect and track the welding seam effectively in different station. Also, the multiple station welding efficiency can be improved and quality can also be guaranteed.

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