The Paton Welding Journal, 2006, №03

2006 №03 (09)

2006 №03 (11)

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The Paton Welding Journal, 2006, #3, 38-40 pages

Algorithm of automatic orientation of manipulation robot relative to tested surfaces

G.A. Tsybulkin

E.O. Paton Electric Welding Institute of the NASU. 11 Kazymyr Malevych Str., 03150, Kyiv, Ukraine.

Abstract
Suggested is the algorithm for ensuring orientation of the manipulation robot normal to the test surface under the conditions of ambiguity of its position in the robot work space. The algorithm was synthesized as a result of solution of the problem of minimizing the functionals that characterize the current distance from some virtual plane to the test surface at movement of the robot along the set paths.
Keywords: robotization of welding processes, measurements, algorithm, automatic orientation

References

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Suggested Citation

G.A. Tsybulkin (2006) Algorithm of automatic orientation of manipulation robot relative to tested surfaces. The Paton Welding J., 03, 38-40.

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