A fuzzy approach for on-line error compensation during robotic welding

Ignacio Dávila-Ríos, Ismael López-Juárez, Gerardo M. Méndez, Román Osorio-Comparán, Gastón Lefranc, Claudio Cubillos

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2016 6th International Conference on Computers Communications and Control, ICCCC 2016
EditorsIoan Dzitac, Florin Gheorghe Filip, Misu-Jan Manolescu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages264-270
Number of pages7
ISBN (Electronic)9781509017355
DOIs
StatePublished - 20 Jun 2016
Externally publishedYes
Event6th International Conference on Computers Communications and Control, ICCCC 2016 - Baile Felix-Oradea, Romania
Duration: 10 May 201614 May 2016

Publication series

Name2016 6th International Conference on Computers Communications and Control, ICCCC 2016

Conference

Conference6th International Conference on Computers Communications and Control, ICCCC 2016
Country/TerritoryRomania
CityBaile Felix-Oradea
Period10/05/1614/05/16

Keywords

  • Artificial Vision
  • Fuzzy Logic
  • GMAW
  • Industrial Robotics
  • Robot Path Control

Fingerprint

Dive into the research topics of 'A fuzzy approach for on-line error compensation during robotic welding'. Together they form a unique fingerprint.

Cite this