Kinematic Robot Sequencing
Kinematic robot sequencing arranges the axis movements of an industrial robot so that singularities are avoided and a uniform travel speed of the welding torch is ensured.
Physical-Chemical Mechanism of Action
Kinematic robot sequencing refers to the mathematical planning and coordination of the axis movements of an industrial robot. It ensures that the relative position and orientation of the welding torch remain steady and continuous along the path.
Metallurgical Relevance & Welding Risks
Incorrect kinematic sequencing can lead to singularities, where the robot's movement suddenly becomes irregular or even stops. This can cause incomplete weld passes and defective parts. A uniform travel speed is crucial to ensure a homogeneous weld and minimize the risk of cracks or irregularities.
Workshop Practice & Action Instructions
To set up kinematic robot sequencing correctly, follow these steps:
1. Path modeling: Define the desired tool path mathematically.
2. Axis motion coordination: Control each robot axis so that the overall path is maintained.
3. Singularity avoidance: Optimize motion sequences to avoid regions where robot motion becomes complicated or irregular.
4. Testing and calibration: Test and calibrate the robot in the workshop to ensure correct path and uniform travel speed.