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Accession number;04A0640440
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| Title;Weaving Motion Control for Welding Robot |
| Author;
INOUE YOSHIHIDE
(Kobe Steel, Ltd., JPN)
NISHIDA YOSHIHARU
(Kobe Steel, Ltd., JPN)
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Journal Title;Kobe Steel Engineering Reports
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Journal Code:F0164A
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ISSN:0373-8868
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VOL.54;NO.2;PAGE.91-95(2004)
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| Figure&Table&Reference;FIG.9, REF.3 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;This paper describes a weaving motion control method for arc welding robots. To cancel the periodical disturbance which arises when the robot is in weaving motion, a periodic disturbance observer for the robot controller was developed. With this observer, periodical disturbances could be canceled completely. In addition, a new elastic deformation model that describes dynamic deformation of the robot arm was developed. Using these control methods, weaving motion accuracy was greatly improved. (author abst.) |
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