{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,24]],"date-time":"2026-01-24T05:37:55Z","timestamp":1769233075582,"version":"3.49.0"},"reference-count":40,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2018,11,9]],"date-time":"2018-11-09T00:00:00Z","timestamp":1541721600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,12,7]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Robotic friction stir welding (RFSW) is an innovative process which enables solid-state welding of aluminum parts using robots. A major drawback of this process is that the robot joints undergo elastic deformation during the welding, because of the high forces induced by the process. This leads to tool deviation and incorrect orientation. There is currently no computer-aided manufacturing\/computer-aided design (CAD) software for generating off-line paths which integrates robot deflections, and the main purpose of this study is to propose an off-line methodology to plan a path for RFSW with the integration of the deflections.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The approach is divided into two steps. The first step consists of extracting position and orientation data from CAD models of the workpieces and adding the deflections calculated with a deflection model to generate a suitable path for performing RFSW. The second step consists of the smooth fitting of the suitable path using B\u00e9zier curves.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The method is experimentally validated by welding a curved workpiece using a Kuka KR500-2MT robot. A suitable tool position and orientation were calculated to perform this welding, an experimental procedure was set up, a defect-free weld was performed and a high accuracy was achieved in terms of position and orientation.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>This method can help manufacturers to easily perform RFSW for three-dimensional workpieces regardless of the lateral tool deviation, loss of the right orientation and control force stability.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The originality of this method lies in compensating for robot deflections without using expensive sensors, which is the most commonly used method for compensating for robot deflection. This off-line method can lead to a reduction in programming time in comparison with teach programming method and leads to reduced investment costs in comparison with commercial off-line programming packages.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-03-2018-0038","type":"journal-article","created":{"date-parts":[[2018,11,9]],"date-time":"2018-11-09T06:32:05Z","timestamp":1541745125000},"page":"669-678","source":"Crossref","is-referenced-by-count":16,"title":["Off-line path programming for three-dimensional robotic friction stir welding based on B\u00e9zier curves"],"prefix":"10.1108","volume":"45","author":[{"given":"Komlan","family":"Kolegain","sequence":"first","affiliation":[]},{"given":"Fran\u00e7ois","family":"Leonard","sequence":"additional","affiliation":[]},{"given":"Sandra","family":"Chevret","sequence":"additional","affiliation":[]},{"given":"Amarilys","family":"Ben Attar","sequence":"additional","affiliation":[]},{"given":"Gabriel","family":"Abba","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2018,11,9]]},"reference":[{"key":"key2021041507271347900_ref001","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1016\/j.jmsy.2015.03.006","article-title":"Novel integrated offline trajectory generation approach for robot assisted spray painting operation","volume":"37","year":"2015","journal-title":"Journal of Manufacturing Systems"},{"key":"key2021041507271347900_ref002","first-page":"206","article-title":"Bezier curves for representing clothoids, circles and straight lines","volume-title":"3rd International Industrial Simulation Conference 2005, ISC 2005\u2019","year":"2005"},{"issue":"4","key":"key2021041507271347900_ref003","doi-asserted-by":"crossref","first-page":"58","DOI":"10.1016\/j.rcim.2012.10.008","article-title":"Off-line compensation of the tool path deviations on robotic machining: application to incremental sheet forming","volume":"29","year":"2013","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2021041507271347900_ref004","doi-asserted-by":"crossref","first-page":"96","DOI":"10.1016\/j.ijmachtools.2015.02.002","article-title":"Analytical curvature-continuous dual-B\u00e9zier corner transition for five-axis linear tool path","volume":"91","year":"2015","journal-title":"International Journal of Machine Tools and Manufacture"},{"key":"key2021041507271347900_ref005","doi-asserted-by":"crossref","first-page":"483","DOI":"10.1007\/978-3-319-18997-0_41","article-title":"The application of robotic welding in the shipbuilding","volume":"363","year":"2015","journal-title":"Advances in Intelligent Systems and Computing"},{"issue":"1\/2","key":"key2021041507271347900_ref006","first-page":"64","article-title":"The investigation of typical welding defects for 5456 aluminum alloy friction stir welds","volume":"433","year":"2006","journal-title":"Materials Science and Engineering A"},{"issue":"3\/4","key":"key2021041507271347900_ref007","first-page":"689","article-title":"Tool path generation and tolerance analysis for free-form surfaces","volume":"47","year":"2007","journal-title":"International Journal of Machine Tools and Manufacture"},{"issue":"1","key":"key2021041507271347900_ref008","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1108\/01439910410512000","article-title":"Robotic friction stir welding","volume":"31","year":"2004","journal-title":"Industrial Robot: An International Journal"},{"key":"key2021041507271347900_ref009","unstructured":"De Backer, J. 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