Engineering topics
Publications and source records attributed to Zein-Sabattou, Saleh.
Report describes application of generalized control algorithm for automatic robotic arc welding in vertical-up configuration. Applicable to variety of welding processes, previously applied to welding in downhand configuration. Generalized algorithm and application to downhand welding described in "Method for Automatic Downhand Welding" (MFS-27209).
The application is described of a weld programming algorithm for vertical-up welding, which is frequently desired for variable polarity plasma arc welding (VPPAW). The Basic algorithm performs three tasks simultaneously: control of the robotic mechanism so that proper torch motion is achieved while minimizing the sum-of-squares of joint displacement; control of the torch while the part is maintained in a desirable orientation; and control of the wire feed mechanism location with respect to the moving welding torch. Also presented is a modification of this algorithm which permits it to be used for vertical-up welding. The details of this modification are discussed and simulation examples are provided for illustration and verification.