Collision Avoidance with Weld Objects by Model Predictive Control

Abstract

A technique employing model predictive control with a focus on dynamics has been proposed for the purpose of executing welding. The aim of this study is to maintain the welding error below 1mm and prevent interference with the welding object. The act of tracing the weld line is essentially a matter of tracking the tip target position through successive updates on the weld line, and avoiding obstacles is equivalent to satisfying an inequality constraint. The method is able to achieve accurate weld line tracking and avoiding any physical contact with the welding object.