Task Programming of Robotic welding using touch sensing principle

Abstract

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