A system for automatic assembly and tack welding of aerospace components has been developed. The system consists of two industrial robots set up to perform measurement-based alignment-correction of plates for butt-welding. Python is used for all high-level measurement operations and the control system. In addition a Python-based motion control framework has been used for real-time motion control of one of the industrial robots. The use of Python has been the source to a short development time and a great factor of efficiency and flexibility.
Authors: Lars Tingelstad (IPK, NTNU, Norway), Alvaro Capellan (IPK, NTNU, Norway)
IPK - Department of Production and Quality Engineering
NTNU - Norwegian University of Science and Technology