Title: Model and simulation of tracking motion for accurate welding using a universal Cobot

Authors: Ha Quang Thinh Ngo; Thanh-Hai Nguyen; Hao An Nguyen; Vo Nhut Quang Mo; Quang Long Le; Tuan Anh Vu; Aly Mach; Thanh Trung Thai

Addresses: Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ly Thuong Kiet, Ho Chi Minh, Vietnam; Vietnam National University Ho Chi Minh City (VNU-HCM), Thu Duc City, Ho Chi Minh, Vietnam ' Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ly Thuong Kiet, Ho Chi Minh, Vietnam; Vietnam National University Ho Chi Minh City (VNU-HCM), Thu Duc City, Ho Chi Minh, Vietnam ' Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ly Thuong Kiet, Ho Chi Minh, Vietnam; Vietnam National University Ho Chi Minh City (VNU-HCM), Thu Duc City, Ho Chi Minh, Vietnam ' Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ly Thuong Kiet, Ho Chi Minh, Vietnam; Vietnam National University Ho Chi Minh City (VNU-HCM), Thu Duc City, Ho Chi Minh, Vietnam ' Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ly Thuong Kiet, Ho Chi Minh, Vietnam; Vietnam National University Ho Chi Minh City (VNU-HCM), Thu Duc City, Ho Chi Minh, Vietnam ' Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ly Thuong Kiet, Ho Chi Minh, Vietnam; Vietnam National University Ho Chi Minh City (VNU-HCM), Thu Duc City, Ho Chi Minh, Vietnam ' Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ly Thuong Kiet, Ho Chi Minh, Vietnam; Vietnam National University Ho Chi Minh City (VNU-HCM), Thu Duc City, Ho Chi Minh, Vietnam ' Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ly Thuong Kiet, Ho Chi Minh, Vietnam; Vietnam National University Ho Chi Minh City (VNU-HCM), Thu Duc City, Ho Chi Minh, Vietnam

Abstract: Welding is a process that requires the skill and time of a professionally-trained welder. However, this welding performance is not highly productive. Therefore, in this paper, the control approach of a 6-DOF collaborative robot (Cobot) arm is investigated in the application of a MIG (metal inert gas). By studying the trajectory generation algorithm, the Cobot can be used to track the welding curve. A theoretical model of the 6-DOF Cobot arm is successfully established in 3D space. Then, the results to validate the method according to the welding trajectory are presented in numerical simulations. It can be clearly seen that our approach shows great position-controlled ability. From these achievements, the applications of this Cobot are expected to be implemented in many industrial fields.

Keywords: robot arm; Cobot; automatic welding; position control; motion tracking.

DOI: 10.1504/IJCAT.2023.131067

International Journal of Computer Applications in Technology, 2023 Vol.71 No.1, pp.43 - 51

Received: 10 Mar 2022
Received in revised form: 07 May 2022
Accepted: 10 Jun 2022
Published online: 23 May 2023 *

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