Path Planning of Complex Pipe Joints Welding with Redundant Robotic Systems

摘要

In this paper, a path planning algorithm for robotic systems with excess degrees of freedom (DOF) for welding of intersecting pipes is presented. At first step, the procedure of solving the inverse kinematics considering system kinematic redundancy is developed. The robotic system consists of a 6 DOF robotic manipulator installed on a railed base with linear motion. Simultaneously, the main pipe is able to rotate about its longitudinal axis. The system redundancy is employed to improve weld quality. Three different simulation studies are performed to show the effect of the robotic system kinematic redundancy to plan a better path for the welding of intersecting pipes. In the first case, it is assumed that robotic manipulator base and main pipe are fixed, and the path is planned only with manipulator joints motion. In the second case, only the robot base is free to move and the main pipe is fixed, and in the third case, the main pipe is free to rotate together with the base of the manipulator. It is seen that kinematic constraints according to the system's redundancy will help to plan the most efficient path for the welding of complex pipe joints.