摘要: This report discusses the history of requirement for and structure of the Integrated Flexible Welding System (LIFWS), one of the projects in the Naval Sea Systems Command's (NAVSEA) Integrated Robotics Program. This project sponso... 展开 This report discusses the history of requirement for and structure of the Integrated Flexible Welding System (LIFWS), one of the projects in the Naval Sea Systems Command's (NAVSEA) Integrated Robotics Program. This project sponsored by the Navy Manufacturing Technology (MT) Office, is intended to develop a flexible, adaptive gas metal arc welding (GMAW) capability for making high quality, cost effective welds on small batch or single workpiece items in a shipyard environment. The IFWS concept has resulted in the development of separately developed modules which could stand alone if necessary; however the intent is to integrate them into a system tailored to satisfy Navy unique manufacturing and repair needs. Modules discussed in the report include the Robotic Adaptive Welding System (RAWS) the 3D Weld Seam Tracking System (3D WSTS), and the Global Vision System (GVS). Typing all the components together is the Intelligent Communications Interface (ICI), a hierarchical control architecture linking knowledge-bas ed design, planning and control activities to the modules performing the work. The report closes with a statement of the integration plan to be followed when implementing the IFWS. (Author) 收起