Control of Pipe Cutting Robot: A More Effective Method

Abstract

This paper presents a pipe cutting Robot system with two different cutting methods: the method with the end-effector moves on cutting path and direction while the stationary pipe and the method with the end-effector moves on a straight line while the rotating pipe to create the desired cutting path and direction. The cutting trajectory is described, the Robot model is constructed, solving the inverse kinematics, planning the trajectory of motion, simulating and controlling Robot in Matlab, and designing the experimental Robot to verify. The results of the two methods are compared to point out a better one. This research builds up an important foundation for choosing an effective method for pipe cutting Robot in industry.

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