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US 12,440,911 B2Granted
Robotic welding systems
AssigneesMassachusetts Institute of Technology, Sumitomo Heavy Industries, Ltd.
InventorsHaruhiko Harry Asada, Haruhiko Eto
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Abstract
A robotic welding systems and related methods are described. In some embodiments, a robotic welding system may generate a target trajectory based at least partly on a trajectory of a welding torch during manual operation of the welding torch; and operate one or more actuators of the system to control movement of the welding torch based at least partly on the target trajectory.
Claims9
A robotic welding system comprising:
- a welding torch;
- a support configured to support the welding torch during a welding operation;
- one or more actuators operatively coupled to the support, wherein the one or more actuators are configured to control a movement of the welding torch in one or more directions;
- an input device configured to receive operator input related to manual operation of the welding torch, wherein the operator input includes manual operation of repeatedly moving the welding torch along a commanded trajectory by an operator;
- and
- a processor operatively coupled to the one or more actuators and the input device, wherein the processor is configured to perform the steps of:
- automatically estimating a repetitive trajectory based at least partially on the commanded trajectory, and approximating the repetitive trajectory as a target trajectory during the manual operation of moving the welding torch along the commanded trajectory;
- and
- operating the one or more actuators to control movement of the welding torch based at least partly on the target trajectory upon approximating the repetitive trajectory as the target trajectory.
6 more elements
Dependencies are inferred from the claim text.