Simulation and trajectory generation of dual-robot collaborative welding for intersecting pipes

The welding of spatial intersecting curves is widely used in the pressure vessels, in which the welding quality cannot be achieved by traditional methods. To this end, this paper proposes a novel methodology of dual-robot welding for the intersecting pipes by means of motion planning and off-line programming. This method takes advantage of the redundancy of the dual-robot system to obtain alternative paths for the collaborative welding task. Based on the mathematical model of the welding seam, the intersecting curve trajectory of the intersecting pipes is generated through the relevant mathematical theory and the MATLAB programming. The intersecting curve trajectory is decomposed into the welding trajectory and collaborative trajectory, and then imported into the RobotStudio simulation platform. The collaborative welding operation of dual-robot is finally achieved, which verify the effectiveness of the proposed methodology.