@ARTICLE{ iet:/content/conferences/10.1049/cp.2010.1330, author = { Kailiang Zhang}, affiliation = {Key Lab. of Complex Syst. & Intell. Sci., Inst. of Autom., Beijing}, author = { Zize Liang}, affiliation = {Key Lab. of Complex Syst. & Intell. Sci., Inst. of Autom., Beijing}, author = { En Li}, affiliation = {Key Lab. of Complex Syst. & Intell. Sci., Inst. of Autom., Beijing}, author = { Degang Yang}, affiliation = {Key Lab. of Complex Syst. & Intell. Sci., Inst. of Autom., Beijing}, keywords = {arc welding robot controller;track interpolation algorithm;self defined Harting bus structure;open architecture;spatial circular arc;sinusoidal swing welding;swing welding interpolation algorithm;quadratic curve;bus base plate;swing welding control stage;unified electrical interface;}, language = {English}, abstract = {This article introduces an open architecture for arc welding robot controller with self-defined Harting-bus structure. Each sub-board composes the controller and is connected to a bus base-plate through unified electrical interface (Harting-Terminal). Each module is flexible and it can be customized to further promotion of the controller so that non R&D personnel can be able to cut or extend the controller function according to specific engineering requirements. In the swing welding control stage, a track interpolation algorithm that gives priority to analytical method is applied to arc welding robot controller. The algorithm can be applied to the swing welding of straight line, and also to the sinusoidal-swing welding that takes spatial smooth curve as the baseline. Preliminary experimental results show that the arc welding robot controller can realize the motion control of 6 degree-of-freedom with industrial welding operation, and particularly it can achieve good results for sinusoidal-swing welding along with spatial circular arc and quadratic curve.}, title = {Research on an arc welding robot controller with open architecture and the swing-welding interpolation algorithm}, journal = {IET Conference Proceedings}, year = {2010}, month = {January}, pages = {391-396(5)}, publisher ={Institution of Engineering and Technology}, url = {https://digital-library.theiet.org/;jsessionid=1r9o6sk6576qc.x-iet-live-01content/conferences/10.1049/cp.2010.1330} }