Kinematic Control of a Mobile Robot Performing Manufacturing Tasks on Non-Planar Surfaces

摘要

Mobile robotic systems are becoming viable technologiesfor automating manufacturing processes in fieldsthat traditionally have seen little automation. Suchfields include pipeline construction, green energy development,infrastructure and shipbuilding. To operatein these environments, the mobile robotic platformmust provide controlled motion of a manufacturingtoolset over the surface of a structure which is generallynon-planar. One such example is welding a seamalong a non-flat ship hull where the surface may consistof sections resembling common geometric shapessuch as cylinders or spheres and the tool must follow apath defined by the weld seam. This paper will presenta kinematic control approach applicable to one mobilerobot topology performing a task on a cylindrical surface.This method is readily generalized to other robottopologies or surface geometries. The method is basedon a kinematic model that predicts the robot motionand configuration joint parameters while on a nonplanarsurface with the desired motion prescribed inlocal tool space. The effort is motivated by a practicalapplication of welding on steel hulls or other surfacesand the results will be compared with these empiricalexperiences. A discussion of how these results can beused to guide future design of mobile robot platformsfor manufacturing is provided