REAL-TIME TRAJECTORY GENERATION FOR SENSOR-GUIDED ROBOTIC LASER WELDING

This paper presents a trajectory generator, which generates a smooth robot trajectory in real-time. The trajectory generator is based on cubic interpolation, where Cartesian locations (position and orientation) can be added on-the-fly during the robot motion. This way sensor information obtained during the robot motion can be used to generate the robot trajectory. A general control architecture called trajectory-based control is presented in combination with this trajectory generator. Experiments have been carried out which show the capabilities of the trajectory generator to provide a smooth trajectory for the robot joint motion controller.