Automation of welding process of nozzles, the part where trunk pipes and branch pipes join, has been very difficult due to the complex three-dimensional saddle-like shape of wedling lines. However, the authors have developed an industrial robot, controlled by a microcomputer, that can automatically perform multipass welding of such processes.
This study is about the development of the algorithms and welding conditions that are suitable for nozzle multipass welds.
This paper describes the basic concept of control methods for automating such welds utilizing industrial robots.
