Robot Path Planning in Multi-pass Weaving Welding for Thick Plates

Multi-pass weaving welding is usually used in thick plates. Automatic path layout of multi-pass weaving welding is a key technology to realize robot automatic welding for thick plates. In this study, a user self-define path layout model is developed to realize teach offline programming for multi-pass weaving welding. Users can set the welding parameters of every pass, the number of layers and passes, and welding sequence according to the real welding technology. The developed system can produce the position, pose of welding torch and oscillation displacement of total passes automatically. The multi-pass welding shape is well and meets the actual production requirement through robot multi-pass weaving welding experiments for single V-groove thick plates.