LIBRARY ı6ıul 0) - Cranfield University

3.3.2.1 Welding parameters generator
3.3.2.2 Robot programming
3.3.2.3 Robot simulation
3.3.3 Control module
4. On-line Control Strategy 99
4.1 Control of relative position between torch and workpiece
4.1.1 "Robot position adjustment" versus "workpiece position adjustment"
4.1.2 Positioning table
4.1.3 Proposed control strategy
4.1.3.1 Adjustment before welding
4.1.3.2 On-line control
4.2 Welding process control
4.2.1 Process stability and control algorithm
4.2.2 Data acquisition and processing
4.2.3 Stand-off estimation and control
4.2.4 Reliability of process statistical estimates
4.2.5 Communications delay
5. Experimental Equipment, Materials and Procedure
5.1 Welding robot
5.2 Welding power source
5.3 Monitoring system
5.4 Welding voltage and current sensors
5.5 Touch sensor
5.6 Sliding table and controller
5.7 Calibration
5.7.1 Moving table calibration
5.7.2 Acquisition system calibration factors
5.7.3 Wire feed speed calibration
5.7.4 Robot Interface calibration
5.8 Experimental materials 120
5.9 Experimental procedure
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