Optimize the feed rate and determine the joints torque for industrial welding robot TA 1400 based on kinematics and dynamics modeling

This paper focuses on optimization of the feed rate parameter for the TA 1400 industrial welding robot with 6 degrees of freedom based on solving the inverse kinematics problem and the optimal algorithm in the parametric domain. The position, velocity, acceleration, and jerk of joints are determined from the given parametric curve. These results are used to calculate the value of the joint torques through the inverse dynamics problem which is solved effectively by using the algorithm for adjusting the increment of generalized vector for the redundant system. The optimal algorithm for the feed rate parameter is performed with the kinematics constraints of the robot. The feed rate values are increased gradually through each loop until the kinematics constraints are broken and constantly change according to the weld seam profile. Each optimum value corresponds to a position on the given weld seam. Robot dynamics equations are constructed using the Lagrange equations. The research results play an important role in optimizing the production process through time reduction and productivity improvement machining. © 2020 by the authors.