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title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Designing a robotic system for the friction stir welding process with an industrial manipulator controlled in adaptive mode
Creators: name: Ð¡Ð¼Ð¾Ð»Ð¸Ð½, ÐÐ»ÑÑ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: ÑÐ²Ð°ÑÐºÐ° ÑÑÐµÐ½Ð¸ÐµÐ¼ Ñ Ð¿ÐµÑÐµÐ¼ÐµÑÐ¸Ð²Ð°Ð½Ð¸ÐµÐ¼
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Ð¾ÐºÐ¾Ð½ÐµÑÐ½Ð¾Ðµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð¾
friction stir welding
manipulator
trajectory correction
end-effector

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description: Studyâs topic: Â«Designing a robotic system for the friction stir welding process with an industrial manipulator controlled in adaptive modeÂ».Tasks that were solved during the development:Designing a system architecture for friction stir welding process with an industrial manipulator.Designing a robotic end-effector device for friction stir welding.Designing an end-effectorâs motor control system.Designing a system that allows to control the trajectory of an industrial manipulator in real time.In the work the following were considered: friction stir welding technology, its features, and requirements for technological machines, that implement it. Based on these requirements, a comparison of existing solutions was made. The architecture of the system for friction stir welding, the end-effector, and the end-effectorâs motor control system were designed. Most of the work is devoted to the designing and comparison of various systems for controlling the trajectory of an industrial manipulator in real time.