3D profile-based robot path correction for weld seams

Need

A sheet joint can shift from the nominal robot path or exhibit a changing profile gap. Track path reference, tool alignment and visible seam geometry; detecting geometry does not establish weld quality.

Solution approach

Image the fixed workpiece profile reference and associate the nominal path with an illustrative lateral offset. Align the wrist profile head and tool at the seam start, then follow the path without moving the workpiece. Show end geometry and the PLC record; the welding process is not modeled.

Process steps

1. 01

   Profile and reference

   Keep the workpiece fixed; show the seam-profile reference and start.

2. 02

   Path offset

   Associate nominal path with the illustrative offset and prepare tool approach.

3. 03

   Tool alignment

   Align the profile head and tool at the seam start; no workpiece gripping occurs.

4. 04

   Path following

   Follow the seam on the fixed workpiece; animate profile and path-correction concepts.

5. 05

   Geometry and record

   Show geometry and PLC results at path completion; the workpiece remains in its fixture.