KOLEGAIN, Komlan (ISYBOT), CHEVRET-ZIMMER, Sandra (Arts et Métiers Institute of Technology), Leonard, francois (ENIM), Abba, Gabriel (ENIM)

Robotic Friction Stir Welding (RFSW): Issues and Comparison of Path-Following Correction Methods

Scheduled for presentation during the Invited Session "Mechatronic approaches in advanced manufacturing for Industry-of-Future" (WeBT1), Wednesday, July 16, 2025, 14:00−14:20, Room 105

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

Robotic FSW is crucial for process industrialization due to its low investment cost and large workspace. During FSW, significant forces are applied to the tool, causing deflections in the robot structure. To address tool trajectory deviations during FSW, two automatic path correction methods are presented: on-line (real-time) correction using motor currents, off-line correction using trajectory knowledge. Experimental results for each method are presented, along with a synthesis and comparison of their limitations and advantages.