Page 11 - Welding Robots Technology, System Issues, and Applications

Contents
xiii
3.1 Sensors for Technological Parameters ......................................................75
3.1.1 Arc Voltage.......................................................................................75
3.1.2 Welding Current ...............................................................................76
3.1.2.1 Hall Effect Sensor..................................................................76
3.1.2.2 Current Shunt.........................................................................76
3.1.3 Wire Feed Speed...............................................................................76
3.2 Sensors for Geometrical Parameters..........................................................77
3.2.1 Optical Sensors.................................................................................78
3.2.2 Through-arc Sensing.........................................................................84
3.3 Monitoring.................................................................................................87
3.4 Pulsed GMAW ..........................................................................................89
3.4.1 Synergic Control...............................................................................90
3.5 Short-circuit GMAW.................................................................................92
3.6 Spray GMAW ...........................................................................................93
3.7 Fault Detection Using Monitoring.............................................................94
3.8 Design of a Monitoring System for Quality Control.................................96
3.9 Monitoring System Development – An Example......................................99
3.9.1 Short-circuiting GMAW...................................................................99
3.9.2 Spray GMAW.................................................................................100
3.10 Discussion .............................................................................................101
3.11 References.............................................................................................102
4. Robotic Welding: System Issues....................................................................105
4.1 Introduction.............................................................................................105
4.1 Modeling the Welding Process................................................................106
4.1.1 Definition and Detection of the Process Parameters.......................106
4.2 Control of the Welding Process...............................................................112
4.2.1 Knowledge Base.............................................................................113
4.2.2 Sensors and Interfaces ....................................................................113
4.4 Programmable and Flexible Control Facility ..........................................116
4.5 Application to Robot Manipulators.........................................................118
4.5.1 Using RPC – Remote Procedure Calls............................................120
4.5.2 Using TCP/IP Sockets ....................................................................123
4.6 Simple Welding Example........................................................................131
4.7 Semi-autonomous Manufacturing Systems.............................................139
4.8 Chapter Final Notes.................................................................................142
4.9 References...............................................................................................143
5. Robotic Welding: Application Examples......................................................147
5.1 Introduction.............................................................................................147
5.2 A Robotic Welding System.....................................................................148
5.2.1 Overview of the system ..................................................................148
5.2.2 CAD Interface.................................................................................152
5.2.3 WeldPanel.......................................................................................157
5.2.4 WeldAdjust.....................................................................................159
5.2.5 File Explorer...................................................................................159
5.2.6 Robot Control Panel and RPC Server to Receive Events ...............159