Development and Control of an Automated Robotic Weld Bead Grinding System

[+] Author and Article Information
D. E. Whitney, A. C. Edsall

The Charles Stark Draper Laboratory, Cambridge, MA 02139

A. B. Todtenkopf, T. R. Kurfess, A. R. Tate

Massachusetts Institute of Technology, Cambridge, MA 02139

J. Dyn. Sys., Meas., Control 112(2), 166-176 (Jun 01, 1990) (11 pages) doi:10.1115/1.2896123 History: Received October 23, 1988; Revised May 17, 1989; Online March 17, 2008


In a robotic weld bead grinding system there are large interaction forces between the robot and the workpiece. Jigging errors and robot compliance make position control unreliable. Instead, metal removal can be controlled by controlling the power applied to the workpiece. The approach used in this work has been to develop a nonlinear force control law for the PUMA 560 robot and implement a structured light vision system that measures material volume in real time. A power trajectory planner has also been incorporated into the system permitting the delivery of a power (the product of force and wheel speed) trajectory to the weld bead. The resulting system is able to plan and execute a multi-pass grinding sequence for removing a weld bead.

Copyright © 1990 by The American Society of Mechanical Engineers
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