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A robot workstation for welding nozzle onto header is introduced. Consisting of a welding robot and a measuring robot, the workstation implements boiler header welding automatically. Then, a method to generate welding track for the welding robot is presented, and collision avoidance for the welding robot within limited space by artificial potential field is discussed. Finally, the collision avoidance solution is demonstrated by experiments.
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on (Volume:6 )
Date of Conference: 15-19 June 2004