Spatial path generation by the complementary use of nominal path data and sensory path data and its application to a seam tracking robot --System concept and path generation algorithm

摘要

A spatial path generation algorithm and its application to the high-reliability seam trackingrobotic system which can operate even under poor sensing conditions are proposed. First, theconcept of the robotic system with a wristmounted high performance vision sensor is presented, thenan accurate spatial path generation algorithm based on the complementary use of nominal path dataand sensory data of an actual path with a reliability coefficient is described. In the algorithm, themodification matrix that maps a nominal path to an actual path is generated by comparing nominalpath data with actual path data acquired by a sensor located ahead of an end-effector at certain points.Then an actual path is restored by modifying nominal path data with the modification matrix.Computer simulations and experiments on a spatial path show that the proposed system operateseffectively even under disturbances such as burst sensory data missing caused by joint configurationabnormalities like tack welding beads often appearing in practical applications.