@inproceedings{fe16c6cfb82946fb9bad698ec3daa2c9,
title = "Design of Welding Strategy for Long Curved Weld Based on Movable Base Robot",
abstract = "In order to achieve stable welding and continuous weld formation of long curved welds, this paper proposes a segmented welding strategy based on dynamic constraint fitting and inertial-visual compensation. In the welding stage, based on the trajectory delay planning strategy, the trajectory of the global weld tracking points is planned by collecting one segment, planning one segment, and intercepting one segment, and the welding gun orientation is planned by quaternion filtering and spherical linear interpolation. In the connection stage, when the robot base movement is unknown, the welding gun pose is coarsely compensated based on inertial measurement, so that the welding gun is initially stabilized near the welding pause point, and then the joint scale-free relative pose optimization and global scale calibration are performed based on image features and kinematics to accurately compensate the welding gun pose. Experiments show that the proposed strategy achieves good weld connection effects and satisfactory trajectory deviation.",
keywords = "Long Curved Weld, Movable Base Robot, Robot Welding, Segmented Welding, Trajectory Planning",
author = "Zhonghao Qin and Zhiheng Liu and Qiuhao Chen and Hualiang Liu and Ruifeng Li",
note = "Publisher Copyright: {\textcopyright} The Chinese Mechanical Engineering Society 2027.; International Conference on Mechanical Design, ICMD 2025 ; Conference date: 09-05-2025 Through 11-05-2025",
year = "2027",
doi = "10.1007/978-981-95-7904-4\_94",
language = "英语",
isbn = "9789819579037",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "1286--1306",
editor = "Jianrong Tan and Zhenyu Liu and Weifei Hu",
booktitle = "Advances in Mechanical Design - Proceedings of The 2025 International Conference on Mechanical Design ICMD 2025",
address = "荷兰",
}