Task planning and optimization for robotic arc welding - an algorithmic approach

The welding task is specified using a solid-modeling CAD system. The main objective of the task-planning algorithms is to minimize the nonproductive time during travel between welds, while selecting a welding sequence which will minimize thermal distortions in the welded area. The path planned for torch travel between the weld seams must not collide with the work environment. Fast heuristic algorithms are used for planning the collision-free path of the robot tool center point between different weld seams in the task environment. A model of the robot motion capabilities is used by the task-planning algorithms to assign optimal motion velocities to different travel segments, and to estimate time of motion. The final welding sequence is planned using a Traveling Salesman Algorithm (TSA).