Development of an Improved Stiffness Ellipsoid Method for Precise Robot-Positioner Collaborative Control in Friction Stir Welding
Year: 2025
Type: article
Abstract: This study proposes an improved stiffness ellipsoid method to enhance the stiffness and precision of robotic arms in friction stir welding (FSW) operations. The method involves establishing a joint stiffness model through static identification experiments and developing a novel stiffness index derived from the improved stiffness ellipsoid method. This index provides a refined metric for evaluating the robot's performance under variable loads during FSW. Simulation experiments demonstrate significant improvements in welding trajectory precision and computational efficiency. The findings highlight the potential of this method to elevate FW quality and consistency.
Source: Materials
DOI: 10.3390/ma18081852
Authors: Cunfeng Kang, Haonan Jia, Eryang Zhao, Chunmin Ma
Institution: Beijing University of Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W4409535403