Digital Twin Implementation of Autonomous Planning Arc Welding Robot System
Industrial robots are currently applied for ship sub-assembly welding to replace welding workers because of the intelligent production and cost savings. In order to improve the efficiency of the robot system, a digital twin system of welding path planning for the arc welding robot in ship sub-assemb...
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| Vydáno v: | Complex System Modeling and Simulation Ročník 3; číslo 3; s. 236 - 251 |
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| Hlavní autoři: | , , , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
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Tsinghua University Press
01.09.2023
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| ISSN: | 2096-9929, 2096-9929 |
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| Abstract | Industrial robots are currently applied for ship sub-assembly welding to replace welding workers because of the intelligent production and cost savings. In order to improve the efficiency of the robot system, a digital twin system of welding path planning for the arc welding robot in ship sub-assembly welding is proposed in this manuscript to achieve autonomous planning and generation of the welding path. First, a five-dimensional digital twin model of the dual arc welding robot system is constructed. Then, the system kinematics analysis and calibration are studied for communication realization between the virtual and the actual system. Besides, a topology consisting of three bounding volume hierarchies (BVH) trees is proposed to construct digital twin virtual entities in this system. Based on this topology, algorithms for welding seam extraction and collision detection are presented. Finally, the genetic algorithm and the RRT-Connect algorithm combined with region partitioning (RRT-Connect-RP) are applied for the welding sequence global planning and local jump path planning, respectively. The digital twin system and its path planning application are tested in the actual application scenario. The results show that the system can not only simulate the actual welding operation of the arc welding robot but also realize path planning and real-time control of the robot. |
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| AbstractList | Industrial robots are currently applied for ship sub-assembly welding to replace welding workers because of the intelligent production and cost savings. In order to improve the efficiency of the robot system, a digital twin system of welding path planning for the arc welding robot in ship sub-assembly welding is proposed in this manuscript to achieve autonomous planning and generation of the welding path. First, a five-dimensional digital twin model of the dual arc welding robot system is constructed. Then, the system kinematics analysis and calibration are studied for communication realization between the virtual and the actual system. Besides, a topology consisting of three bounding volume hierarchies (BVH) trees is proposed to construct digital twin virtual entities in this system. Based on this topology, algorithms for welding seam extraction and collision detection are presented. Finally, the genetic algorithm and the RRT-Connect algorithm combined with region partitioning (RRT-Connect-RP) are applied for the welding sequence global planning and local jump path planning, respectively. The digital twin system and its path planning application are tested in the actual application scenario. The results show that the system can not only simulate the actual welding operation of the arc welding robot but also realize path planning and real-time control of the robot. |
| Author | Lin, Zongjie Gao, Jin Hua, Yi Yu, Rui Wang, Xuewu |
| Author_xml | – sequence: 1 givenname: Xuewu surname: Wang fullname: Wang, Xuewu organization: East China University of Science and Technology,School of Information Science and Engineering,Shanghai,China,200237 – sequence: 2 givenname: Yi surname: Hua fullname: Hua, Yi organization: East China University of Science and Technology,School of Information Science and Engineering,Shanghai,China,200237 – sequence: 3 givenname: Jin surname: Gao fullname: Gao, Jin organization: East China University of Science and Technology,School of Information Science and Engineering,Shanghai,China,200237 – sequence: 4 givenname: Zongjie surname: Lin fullname: Lin, Zongjie organization: East China University of Science and Technology,School of Information Science and Engineering,Shanghai,China,200237 – sequence: 5 givenname: Rui surname: Yu fullname: Yu, Rui organization: University of Kentucky,Institute for Sustainable Manufacturing,Department of Electrical and Computer Engineering,Lexington,KY,USA,40506 |
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| Title | Digital Twin Implementation of Autonomous Planning Arc Welding Robot System |
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