Page 156 - Welding Robots Technology, System Issues, and Applications

Robotic Welding: System Issues 143

clarifying the issues described, but also to show how they could be
implemented using actual equipment and software tools.

This chapter also discusses the construction of manufacturing systems that
incorporate high degrees of autonomy with the objective of improving productivity
and efficiency of the manufacturing processes. That means distributing functions to
all the components of the system on a client-server framework. Furthermore, the
software must be designed as general as possible to offer the system functionality
to the remote clients in the form of customable services. Furthermore, for the
remote client any of the system features can be parameterized and in this way
tailored to the user needs, which means adjusted to execute the production and
operational changes required for the actual installation. This means network
interfaces, based on the TCP/IP protocol, and remote procedure calls, enabling
direct command of shop-floor manufacturing setups from anywhere in the factory.

The following chapter presents and discusses a complete robotic welding system.
The chapter is very technical and goes deeply into implementation details with the
objective of being informative and demonstrative. The chapter also demonstrates
some of the features discussed in this book using a particular robot/controller and
the software architecture presented in this chapter.

4.9 References
[1] Pires, JN, and Loureiro, A et al, “Welding Robots”, IEEE Robotics and Automation
Magazine, June, 2003
[2] Pires, JN, and Loureiro, Altino et al, “Object-Oriented and Distributed Software
applied to Industrial Robotic Welding”, Industrial Robot, An International Journal,
MCB University Press, March 2002.
[3] Olsson M, “Simulation and execution of autonomous robot systems”, Ph.D. thesis,
Devision of Robotics, Department of Mechanical University, Lund Institute of
Technology, Lund University, Sweden, 2002.
[4] Yu, JY, Na, SJ, “A Study on Vision Sensors for Seam Tracking of Height-Varying
Weldment. Part1: Mathematical Model”, Elsevier Mechatronics Journal, Vol, 7, Nº 7,
pp. 599-612, 1997.
[5] Yu, JY, Na, SJ, “A Study on Vision Sensors for Seam Tracking of Height-Varying
Weldment. Part2: Applications”, Elsevier Mechatronics Journal, Vol, 8, Nº 1, pp. 21-
36, 1998.
[6] Bolmsjo G., “Sensor System in Arc Welding”, Technical Report, Lund Institute of
Technology, Production and Materials Engineering Department, 1997.
[7] Agren B. "Sensor Integration for Robotic Arc Welding." PhD thesis, Lund University,
1995
[8] Smartt HB et al, “Intelligent Control of Modeling Welding Cell”, Proceedings of the
th
ACM 6 International Conference on Trends in Welding Research, Pine Mountain,
USA, April 2002.
[9] Bolmsjo G, et al, “Off-line programming of GMAW robotic systems – a case study”,
International Journal for the Joining of Materials, Vol.9, Nº3, pp.86-93, 1997.