Kinematic modeling and simulation of manipulator for executing welding operations with arbitrary weld joint profiles

Abstract

Current investigation deals with the development of an automated seam tracking methodology for the weld joints accessible in PC motor-assisted style setting. To perform welding operations, an industrial robot has been modeled in the CAD platform with three degrees of freedom. Later, kinematic models have been developed in order to navigate the end effector through the obtained weld seam path. Simulation results for different weld joints show the robustness of the developed methodology.