Design and implementation of grinding robot control system for circumferential weld on inner wall of pipe

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 智能检测与装备研究室

	Design and implementation of grinding robot control system for circumferential weld on inner wall of pipe
	Chang K(常凯)2,3,4; Gao J(高洁))2,3,4; Liu B(刘博))2,3,4; Yin J(尹健))2,3,4; Yan MH(闫明辉)1; Zhang GY(张国悦)1
	2021
会议日期	July 15-17, 2021
会议地点	Dalian, China
关键词	automatic grinding coordinate system robot trajectory planning technological experiment
页码	11-15
英文摘要	Abstract: For the problems of poor working environment and low efficiency in the grinding process of circumferential weld on inner wall of pipe, an automatic grinding control system based on industry robot was designed and implemented. The pipe was positioned by servo mechanism. Based on the calibration results of tool and workpiece coordinates, the robot grinding trajectory was automatically planned by off-line programming software. After the grinding process was simulated and verified in the offline programming software, the generated grinding trajectory code was downloaded to the robot control system to carry out the technological experiment. Through the grinding technological experiment, the basic technological parameters and the final process of automatic debugging were formed. For the automatic operation and detection, the overall network architecture of the control system was set up.
产权排序	1
会议录	2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-3576-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29893]
专题	沈阳自动化研究所_智能检测与装备研究室
通讯作者	Chang K(常凯)
作者单位	1.Xi'an Aerospace Engine Co., Ltd. 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 4.Key Laboratory on Intelligent Detection and Equipment Technology of Liaoning Province, Shenyang, China
推荐引用方式 GB/T 7714	Chang K,Gao J,Liu B,et al. Design and implementation of grinding robot control system for circumferential weld on inner wall of pipe[C]. 见:. Dalian, China. July 15-17, 2021.