Study on path planning and compensation of off-line programming for thick walled curve welding

Thick walled curve welding are usually joined by multi-layer and multi-pass welding,which quality and efficiency could be improved by off-line programming of robot welding.However,the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path.A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper.Experimental results show that the robot off-line programming improves the welding efficiency and precision for thick walled curve welding seam.