Control Strategies forVeryLowSpeedTrajectories ofanIndustrial Robot

Thepaperdiscusses afewtheoretical, numerical andpractical aspects involved withthemotion ofanindustrial robot overtrajectories atverylowspeed, whichisacommon duty- mainly foremployment inarcwelding. Inthefirst part somedetails onthetechnological implementation ofthearc welding anddedicated trajectories arereported, withspecial reference totheweaving motion. A custom-made aloorithm abletoovercome afewsignificant problems isthenproposed. Thealgorithm isfinalHv tested ona6-axes industrial robotand anumberofrelevant results areshownfortrajectories rang- inginthefield 5-15mm/s,including atest basedonanadap- ti've procedure anda comparison withstandard industrial controller. A final discussion on theresults completes the presentation.