Robot path optimization for spot welding applications in automotive industry

Abstract

Rad se bavi problemom učinkovitog planiranja kretanja kod industrijskih robota. U prvom se dijelu razmatraju postojeće metode planiranja off-line putanje. U drugom se dijelu opisuje rad s jednim od simulacijskih sustava s automatskim generiranjem putanje i sposobnosti off-line programiranja. Uključen je postupak točkastog zavariranja. Praktična primjena ovoga uveliko ovisi o metodi za optimiziranje putanje robota s velikom točnosti, za transformiranje putanje u optimalni program robota u odnosu na vrijeme i energiju, prilagođen za stvarni svijet.The paper discusses the problem of effective motion planning for industrial robots. The first part deals with current method for off-line path planning. In the second part is presented the work done with one of the simulation systems with automatic trajectory generation and off-line programming capability. A spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, i.e. the path transformation into a time and energy optimal robot program for the real world, which is discussed in the third step