An algorithm for the welding torch weaving control of arc welding robot

The teaching learning method is generally applied in six DOF (degrees of freedom) robot programming. However, for complicated weaving welding, there is a drawback using this method. That is that numerous teaching control points are needed in the programming. Based on a method of the robot trajectory planning, this paper focus on addressing this drawback by utilizing an algorithm for the welding torch weaving control. This algorithm includes the novel formulation to calculate the tracking position, and can produce an accurate and continuous weaving path along various weld lines. The teaching programming can easily determine these weld lines which contain few teaching points. Therefore, this algorithm can reduce the programming time for the robotic welding application. A lot of experiments have been done to validate the algorithm. The experimental results show that the weaving control algorithm is correct and can produce various weaving paths. Index Terms--Robot control, welding, motion planning, software algorithms.