Jan Kirkegaard Lauridsen

Model based control of a one degree of freedom workpiece manipulator for welding of nozzles

This paper presents an automatic control system for welding the root-pass in a seam joining a nozzle perpendicular onto a large diameter pipe. The system is based on the use of a geometry model of the welding seam and on inverse welding process models (i.e. models that map desired weld quality, joint shape, and equipment parameters onto appropriate welding control variables). By using these models a workpiece manipulator is controlled in such a way that an appropriate welding position (determined from the inverse process models) is obtained while welding. A robot, that is carrying the welding torch, is then positioned so that the position and orientation of the torch relatively to the seam become as specified in the inverse welding process models. The paper presents the overall concept of the system. Furthermore, algorithms for controlling the workpiece manipulator and the robot are presented.

Model of Root-Bead Welding for Off-line Programming and Control

In this paper, a model is presented which, based on a description of the shape of a welding seam (the gab size and bevel angles), can be used to select variables controlling the welding of a root-bead. The model can be used in an off-line programming system as well as in a geometry-sensor based control system.

The CIM Game - A Role-Playing Game on Integration

The CIM Game is a role-playing game where individual players or small teams play the roles of different management functions in a company, constructed for the purpose. In this first part of the text, the elements of the game are presented. The background of the game and the purpose will be discussed. Moreover, the activities of the game and the situation will be indicated.

An Architecture for Robot Off-line Programming of Filling Welds for Multipass GMA-Welding of Pipe Branches

This paper presents an architecture of an off-line programming system for generation of robot programs for welding the filling welds in pipe branches. The paper outlines the need of process models and how the structure of such process models must be in order to obtain the required quality to the pipe branch welding. Furthermore it is shown, how the process models are used to generate the control variables, so that the required quality to the pipe branch weldings is obtained.