Mobile robotic systems are becoming viable technologies
for automating manufacturing processes in fields
that traditionally have seen little automation. Such
fields include pipeline construction, green energy development,
infrastructure and shipbuilding. To operate
in these environments, the mobile robotic platform
must provide controlled motion of a manufacturing
toolset over the surface of a structure which is generally
non-planar. One such example is welding a seam
along a non-flat ship hull where the surface may consist
of sections resembling common geometric shapes
such as cylinders or spheres and the tool must follow a
path defined by the weld seam. This paper will present
a kinematic control approach applicable to one mobile
robot topology performing a task on a cylindrical surface.
This method is readily generalized to other robot
topologies or surface geometries. The method is based
on a kinematic model that predicts the robot motion
and configuration joint parameters while on a nonplanar
surface with the desired motion prescribed in
local tool space. The effort is motivated by a practical
application of welding on steel hulls or other surfaces
and the results will be compared with these empirical
experiences. A discussion of how these results can be
used to guide future design of mobile robot platforms
for manufacturing is provided.
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