TAILIEUCHUNG - Control of pipe cutting robot: A more effective method

This paper presents a pipe cutting Robot system with two di erent cutting methods: the method with the end-e ector moves on cutting path and direction while the stationary pipe and the method with the end-e ector moves on a straight line while the rotating pipe to create the desired cutting path and direction. | VOLUME 1 I ISSUE 2 I 2017 I November Control of Pipe Cutting Robot A More Effective Method Quoc Bao DIEP Faculty of Electrical Engineering and Computer Science VSB-Tcchnical University of Ostrava 17. listopadu 15 708 33 Ostrava Czech Republic dicpquocbao@ Received 04-August-2017 accepted 04-0ctobcr-2017 published 30-Novcmbcr-2017 Abstract. This paper presents a pipe cutting Robot system with two different cutting methods the method with the end-effector moves on cutting path and direction while the stationary pipe and the method with the end-effector moves on a straight line while the rotating pipe to create the desired cutting path and direction. The cutting trajectory are described the Robot model is constructed solving the inverse kinematics planning the trajectory of motion simulating and controlling Robot in Matlab and designing the experimental Robot to verify. The results of the two methods are compared to point out a better one. This research builds up an important foundation for choosing an effective method for pipe cutting Robot in industry. Keywords Cutting robot inverse kinematics pipe cutting robot control trajectory planning. 1. Introduction In industry gases and liquids arc transported daily by pipelines and these pipeline systems paired together in a complex way. To create them the steel pipes arc cut and welded together. However this is not simple because there arc complex joints that require cutting and welding paths to be complicated in which the trajectory and direction change continuously. With that requirement conventional tools cannot be implemented and the application of robots is necessary. The use of robot for cutting pipe has become very popular in the world. In Vietnam this technique has not yet been widely applied and there arc few scientific publications in this field. In 1 the authors mentioned a Delta Robot for cutting high-speed laser with the numerous advantages of robot higher stiffness fewer joints the ability of .

• Tự động hoá
• Cutting robot
• Inverse kinematics
• Pipe cutting
• Robot control
• Trajectory planning
• Machining robot
• Dynamic analysis
• Cutting force
• Application in calibration of cutting force
• Milling machining robot
• Mounting Wheels
• Cutting Aluminum
• BODY FRAMEWORK
• Barrier Strips
• Wiring Platform
• Drink Dispenser
• Robot motion planning
• Path planning
• Parametric method
• Path length
• Time optimal
• cruising motions
• Translation of tool center points
• Orientation changes of tools
• PTP motions
• Tạp chí khoa học
• Trajectory planning and control
• Virtual holonomic constraint approach
• 2 DOF underactuated system
• Mechanical system
• Autonomous Car
• Robot mobile tracking
• Computer vision
• CNN model
• Traffic sign recognition
• CRC Press
• Robotics and automation handbook
• The history of robotics
• Rigid body kinematics
• Lagrangian dynamics
• Robotic mechanical systems
• Fundamentals robotic mechanical systems
• Fundamentals robotic mechanical
• Rigid body mechanics
• Simple robotic manipulators
• Mechanical engineering series
• Mechanical engineering
• An overview of robotic mechanical systems
• Mathematical background
• Decoupled serial robots