제안 방법

• In this paper, we have shown RWL that is operated by two algorithms where the end effector of a robot and the scanner move simultaneously. The proposed algorithms were verified through several experiments and turned out to be capable of welding on the desirable trajectories even when the end effector was moving.
• In this paper, we show the algorithm of RLW that enable the end effecter to synchronize with scanner based on time. The proposed method consists of two algorithms: (1) a scanner-speed modification algorithm aimed at the compensation for the move of the end effecter.
• The first experiment is to test a welding speed modification algorithm. This experiment consists of welding the shapes of rectangle and circle, and welding at a speed of end effector and at various welding speeds.
• The second experiment is to test welding-start time computation algorithm. The objective of this experiment is to start to weld the shapes of rectangle and circle at a proper time, using the given values such as end effector speed and various welding speeds.
• In this paper, we show the algorithm of RLW that enable the end effecter to synchronize with scanner based on time. The proposed method consists of two algorithms: (1) a scanner-speed modification algorithm aimed at the compensation for the move of the end effecter. (2) a welding-time calculation algorithm for start time of trajectory.
• The first experiment is to test a welding speed modification algorithm. This experiment consists of welding the shapes of rectangle and circle, and welding at a speed of end effector and at various welding speeds. As shown in the Fig.