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SIIA Público
SISTEMA INTEGRAL DE INFORMACIÓN ACADÉMICA - PÚBLICO
Título del libro: 2016 6th International Conference On Computers Communications And Control (icccc) Título del capítulo: A Fuzzy Approach for on-line Error Compensation During Robotic Welding
Fuzzy Logic; GMAW; Industrial Robotics; Artificial Vision; Robot Path Control
Resumen:
During robot welding operations in the manufacturing industry there is a
need to modify on-line the welding path due to a mismatch in the
position of the components to be welded. These positioning errors are
due to multiple factors such as ageing of the components in the part
conveyor system, clamp fixtures, disturbances, etc. Therefore, robot
reprogramming is needed which requires a stop in the production line and
consequently an increment in production costs. In this article, we
present an alternative solution to this problem that involves the use of
structured lighting using a low-cost laser beam, a CMOS camera and a
Fuzzy Controller. To validate the proposed control system, a robotic
cell was designed using an industrial KUKA KR16 robot for welding
metallic plates. The method was evaluated experimentally under lateral
and vertical positioning errors. The control interface includes apart
from the misalignment correction, the on/off control of the welding
power supply, arc voltage and current adjustment, welding torch speed
and the control of the distance between the torch's tip and the welding
plate. Obtained results using the experimental design method showed a
maximum error of 1.6mm, which is considered appropriate for the welding
of industrial beads in metallic plates and which demonstrates the
method's effectiveness in practical situations.
