Paper Details

Robotics is the applied science of motion control for multi-axis manipulators and is a large subset of the fieldof "mechatronics" which is a more general term that includes robotic arms, positioning systems, sensors and machinesthat are controlled by electronics and/or software. Any form of physical work that a human being can do can bereplicated or performed faster, more accurately, cheaper and more consistently using computer controlled robots andmechanisms. Robotic welding uses robots which completely automate a welding process by both performing the weld andhandling the part. The Robotic welding is an automatic and adaptive process using robotics and automatic controls canresult in consistency and desired output. It is possible to achieve completely automatic welding cycle by use of Sensorsand Servo controls. Use of Touch Sense of robot is low cost, software based, joint location sensing system. Touch sensingis one of the most advance and accurate feedback mechanisms to compensate the plate waviness and to minimizerejections. It works by using the welding electrode, nozzle, or other sensing pointer to make electrical contact with thepart. This paper makes the use of touch sensing principle for the programming of seam welding on the work piece usingKUKA robot KR 16 L6 and KUKA controller KR C2.

Gopi Damle, Jagrut Gadit, “Task Programming of Robotic welding using touch sensing principle”, International Journal of Advance Engineering and Research Development (IJAERD), Vol. 2, Issue 5, pp. 427-434, May 2015.