Modeling and Path Planning Simulation of a Robotic Arc Welding System

Abstract

The utilization rate of robots to execute manufacturing processes in Small and Medium Enterprises are steadily increasing not only due to the demand for higher productivity and higher quality but also for the sake of stable throughput and minimizing turnover risk. Prior to the implementation of robotic manufacturing system (RMS), it is very important to properly plan the specific jobs that need to be carried out. Additionally, in order to optimize the efficiency of an industrial robot, the entire operation parameters of the particular purpose should be carefully taken into consideration starting from the planning stage. One of an effective method of planning RMS is through the simulation of the operation, which could be done virtually. This paper proposes the welding work flow and workcell design of an arc welding robot system. Analysis that has been carried out to establish the workcell design includes forward kinematic analysis and robot path planning analysis.