ROBOTIC ARC WELDING — PROGRAMMING AND CONTROL

Abstract The fundamental parameters in high level programming and control of robotic arc welding are outlined. Of special interest is the programming of a robot and a positioner as an integrated unit. A hierachical control model is therefore presented that includes high level commands for robotic arc welding. To integrate and plan the movements of the robot and the positioner, a kinematic description is given. By using the inverse kinematic solution of the positioner it is possible to optimize the weld parameters to obtain proper movements such as orientation of the weld joints and the weld torch.