Optimal Motion Planning of All Position Autonomous Mobile Welding Robot System for Fillet Seams
Tao Zhang, Shanben Chen, Minghui Wu, Yanzheng Zhao, Xiaoqi Chen · IEEE Transactions on Automation Science and Engineering · 2013
This paper analyzes the motion planning of a custom-built all position autonomous mobile welding robot. It proposes a novel motion planning method that allows the robot to complete fillet seam welding while the vehicle turns around the right angle seam simultaneously. The global optimal solution is obtained through model modification.