Path correction algorithm for spot welding robot in body-in-white applications

Abstract

This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with levels of industrial robot planning. Second part discusses the basic principle of path planning. In the third part is presented the work done with one of the simulation system with automatic trajectory generation and off-line programming capability. An spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus, transform the path into a time and energy optimal robot program for the real world, which is discussed in the last two steps.