Page 16 - Welding Robots Technology, System Issues, and Applications

xviii List of Figures
5.11. Aspect of the working object, welding sequence and obtained weld:
a – work-piece for multi-pass weld test case (two 20 mm thick
plates, 2 mm apart from each other, with a 60º V-groove joint
preparation); b - layers necessary (welding sequence) to finish the
weld and obtained weld............................................................................... 160
5.12. Aspect of the working pieces: a - fillet weld preparation; b -
working table in the laboratory. .................................................................. 162
5.13. Code associated with the function Read Actual Position/Orientation. ....... 164
5.14. Code associated with some functions of the “WeldPanel”
application................................................................................................... 165
5.15. Code associated with some functions of the “WeldAdjustl”
application................................................................................................... 166
5.16. Parameterization of an existent welding program. ..................................... 167
5.17. Simple welding server running on the robot controller. ............................. 169
5.18. Code for the Welding service...................................................................... 171
5.19. Definition of the simple welding example using AUTOCAD.................... 172
5.20. Robotic welding: code generation. ............................................................. 174
5.21. Using a TCT/IP socket connection to interface sensors to robot
controllers. .................................................................................................. 175