An Experimental Study on Improvement of Weaving Motion of Welding Robots by Learning

Satoshi Tadokoro; Naoto Kobayashi; Nobukazu Kawasaki; Noriaki Miyazaki; Toshi Takamori

doi:10.1299/kikaic.61.4021

An Experimental Study on Improvement of Weaving Motion of Welding Robots by Learning

Satoshi Tadokoro, Naoto Kobayashi, Nobukazu Kawasaki, Noriaki Miyazaki, Toshi Takamori

Research output: Contribution to journal › Article › peer-review

Abstract

In this paper, weaving trajectories of welding robots are improved by incorporating learning methods. Using functions for evaluating trajectory error based on data from accelerometers, a learning method of one-dimensional optimization and that based on a model of weaving amplitudes and phases were adopted. Experimental results showed that learning methods effectively improved the weaving trajectories of welding robots; accurate weaving trajectories were obtained by only 30 learning repetitions at most. It was also revealed that continuous weaving motion along welding lines was possible by interpolation of parameter values.

Original language	English
Pages (from-to)	4021-4026
Number of pages	6
Journal	transactions of the japan society of mechanical engineers series c
Volume	61
Issue number	590
DOIs	https://doi.org/10.1299/kikaic.61.4021
Publication status	Published - 1995
Externally published	Yes

Keywords

Learning Control
Manipulator
Motion Control
Robot
Weaving Motion
Welding

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.61.4021

Cite this

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title = "An Experimental Study on Improvement of Weaving Motion of Welding Robots by Learning",

abstract = "In this paper, weaving trajectories of welding robots are improved by incorporating learning methods. Using functions for evaluating trajectory error based on data from accelerometers, a learning method of one-dimensional optimization and that based on a model of weaving amplitudes and phases were adopted. Experimental results showed that learning methods effectively improved the weaving trajectories of welding robots; accurate weaving trajectories were obtained by only 30 learning repetitions at most. It was also revealed that continuous weaving motion along welding lines was possible by interpolation of parameter values.",

keywords = "Learning Control, Manipulator, Motion Control, Robot, Weaving Motion, Welding",

author = "Satoshi Tadokoro and Naoto Kobayashi and Nobukazu Kawasaki and Noriaki Miyazaki and Toshi Takamori",

year = "1995",

doi = "10.1299/kikaic.61.4021",

language = "English",

volume = "61",

pages = "4021--4026",

journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

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publisher = "Japan Society of Mechanical Engineers",

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T1 - An Experimental Study on Improvement of Weaving Motion of Welding Robots by Learning

AU - Tadokoro, Satoshi

AU - Kobayashi, Naoto

AU - Kawasaki, Nobukazu

AU - Miyazaki, Noriaki

AU - Takamori, Toshi

PY - 1995

Y1 - 1995

N2 - In this paper, weaving trajectories of welding robots are improved by incorporating learning methods. Using functions for evaluating trajectory error based on data from accelerometers, a learning method of one-dimensional optimization and that based on a model of weaving amplitudes and phases were adopted. Experimental results showed that learning methods effectively improved the weaving trajectories of welding robots; accurate weaving trajectories were obtained by only 30 learning repetitions at most. It was also revealed that continuous weaving motion along welding lines was possible by interpolation of parameter values.

AB - In this paper, weaving trajectories of welding robots are improved by incorporating learning methods. Using functions for evaluating trajectory error based on data from accelerometers, a learning method of one-dimensional optimization and that based on a model of weaving amplitudes and phases were adopted. Experimental results showed that learning methods effectively improved the weaving trajectories of welding robots; accurate weaving trajectories were obtained by only 30 learning repetitions at most. It was also revealed that continuous weaving motion along welding lines was possible by interpolation of parameter values.

KW - Learning Control

KW - Manipulator

KW - Motion Control

KW - Robot

KW - Weaving Motion

KW - Welding

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JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

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IS - 590

ER -

An Experimental Study on Improvement of Weaving Motion of Welding Robots by Learning

Abstract

Keywords

ASJC Scopus subject areas

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