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Optimal Motion Planning of All Position Autonomous Mobile Welding Robot System for Fillet Seams

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This paper analyzes the motion planning of a custom-built all position autonomous mobile welding robot. It proposes a novel motion planning method that allows the robot to complete fillet seamwelding while
the vehicle turns around the right angle seam simultaneously. The global optimal solution is obtained through model modification. Note to Practitioners—This paper ismotivated by the problem of turning
and welding of a custom-built all position autonomous mobile welding robot system. This type of welding is pervasive in the metal fabrication industry. But to produce smooth fillet welding while the mobile vehicle turns simultaneously proves to be challenging. This paper presents two optimization models that calculate the best initial position and the turning radius of the robot vehicle, respectively. Furthermore, global optimal solution is obtained through model optimization. The proposed motion
planning method effectively deals with the problem of turning welding, and provides a reliable theoretical basis for complex all-position welding operations.
Index Terms—Kinematics, mobile welding robot, motion planning, optimization model, right angle seams.

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Informasi Detail

Judul Seri

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING

No. Panggil

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Penerbit

: ., 2013

Deskripsi Fisik

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 10, NO. 4, OCTOBER 2013

Bahasa

English

ISBN/ISSN

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Klasifikasi

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Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

VOL. 10, NO. 4

Subjek

TEKNIK

Info Detail Spesifik

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Pernyataan Tanggungjawab

yuli/agus

Versi lain/terkait

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