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International Conference on Intelligent Robotics and Applications

ICIRA 2017: Intelligent Robotics and Applications pp 124–134Cite as

Optimal Motion Planning for Mobile Welding Robot

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

Abstract

This paper focuses on the motion planning method for a novel mobile welding robot (MWR), based on the screw theory. The robot consists of a vehicle unit and a 5-DOF manipulator, which equipped a torch at the end of manipulator. In order to finish the welding task, the kinematic motion planning strategy is of great importance. As the traditional strategy which uses inverse kinematic and polynomial interpolation may cause a waste of computing time, the screw theory is chosen to improve the strategy. From the simulation and experiment results, it can be found that the optimal motion planning method is reliable and efficient.

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Acknowledgement

This work is supported by Shanghai Science and Technology Commission Foundation under Grant No. 13DZ1108300, and National 863 plan of China under Grant No. 2009AAA042221.

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Authors and Affiliations

  1. Institute of Aerospace System Engineering Shanghai, Shanghai, People’s Republic of China

    Gen Pan, Anye Ren & Peng Gao

  2. State Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, People’s Republic of China

    Gen Pan & Enguang Guan

  3. Shanghai Aerospace Control Technology Institute, Shanghai, People’s Republic of China

    Fan Yang

Authors
  1. Gen Pan
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  2. Enguang Guan
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  3. Fan Yang
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  4. Anye Ren
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  5. Peng Gao
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Corresponding author

Correspondence to Fan Yang .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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© 2017 Springer International Publishing AG

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Pan, G., Guan, E., Yang, F., Ren, A., Gao, P. (2017). Optimal Motion Planning for Mobile Welding Robot. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_12

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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