Automated seam tracking system based on passive monocular vision for automated linear robotic welding process

Weis, Átila A.; Mor, Jusoan Lang; Soares, Luciane B.; Steffens, Cristiano Rafael; Drews-Jr, Paulo L. J.; Faria, Matheus Frantz de; Evald, Paulo Jefferson Dias de Oliveira; Azzolin, Rodrigo Zelir; Filho, Nelson Duarte; Botelho, Silvia Silva da Costa

doi:10.1109/indin.2017.8104790

Cited by 13 publications

(4 citation statements)

References 29 publications

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“…The automated seam tracking is dependent on inactive monocular vision. The vision provides information to the robotic automated welding framework, permitting quality and productivity gains [23]. A seam tracking algorithm has been proposed for a butt-type weld joint, with changing weld gaps for accuracy in the simultaneous application of weld path positions and weld gaps [24].…”

Section: The System Descriptionmentioning

confidence: 99%

Intelligent Robotic Welding Based on a Computer Vision Technology Approach

et al. 2022

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Robots have become an essential part of modern industries in welding departments to increase the accuracy and rate of production. The intelligent detection of welding line edges to start the weld in a proper position is very important. This work introduces a new approach using image processing to detect welding lines by tracking the edges of plates according to the required speed by three degrees of a freedom robotic arm. The two different algorithms achieved in the developed approach are the edge detection and top-hat transformation. An adaptive neuro-fuzzy inference system ANFIS was used to choose the best forward and inverse kinematics of the robot. MIG welding at the end-effector was applied as a tool in this system, and the weld was completed according to the required working conditions and performance. The parts of the system work with compatible and consistent performances, with acceptable accuracy for tracking the line of the welding path.

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Section: The System Descriptionmentioning

confidence: 99%

Intelligent Robotic Welding Based on a Computer Vision Technology Approach

et al. 2022

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“…tópicos fundamentais mais estudado na área. Em se tratando de robôs soldadores, alguns trabalhos interessantes na literatura abordam detecção e rastreamento da posição da costura (LÜ; ZHANG; WU, 2017), melhoria da qualidade da solda através de sensoriamento por visão computacional (XU et al, 2017;WEIS et al, 2017), estratégia ótima de controle de movimento do módulo de costura baseada nos parâmetros Denavit-Hartenberg (XIANG; XIE; LU, 2018), Controle Fuzzy para trajetória do robô (WANG; ZHANG; LU, 2019). Ainda, para o controle de velocidade do robô soldador há na literatura algumas técnicas interessantes, tais como: Controle PID (Proporcional-Integral-Derivativo) otimizado por lógica Fuzzy (REZAEE, 2017), Controle por realimentação de estados (FERREIRA et al, 2020), Controle Robusto Adaptativo por Modelo de Referência baseado em Filtro de Kalman estendido (EVALD et al, 2017b), Controle por Modos Deslizantes baseado em Filtros de Kalman Unscented e Cubature (EVALD et al, 2017c), entre outros.…”

Section: Introductionunclassified

“…Embora cada trabalho apresente um abordagem sobre diferentes parâmetros do sistema, incluindo as dinâmicas do processo de soldagem propriamente dito, o objetivo é comum: obter uma solda de melhor qualidade. Entretanto, essas estratégias requerem aparatos eletrônicos sofisticados para sua implementação, tais como câmeras de alta resolução associadas à filtros de imagem para captar o estado da soldagem e realimentar a sistema de controle que se baseia não somente na dinâmica do robô para tomar sua decisão, conforme implementado nos trabalhos (LÜ; ZHANG; WU, 2017;XU et al, 2017;WEIS et al, 2017). Ou ainda, requerem uma capacidade de processamento relevante do microcontrolador para executar o algoritmo de controle, conforme as técnicas propostas em (XIANG;XIE;LU, 2018;WANG;ZHANG;LU, 2019;REZAEE, 2017;EVALD et al, 2017bEVALD et al, , 2017bEVALD et al, 2017c).…”

Section: Introductionunclassified

Um estudo investigativo sobre controladores de ganhos fixos: estudo de caso no controle de velocidade de um soldador linear automático

et al. 2022

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Neste trabalho é apresentado um estudo investigativo sobre controle de velocidade de um soldador linear automático. Assim, três controladores são projetados para realizar uma análise aprofundada de suas respostas, satisfazendo os requisitos de projeto. As seguintes técnicas são simuladas e comparadas experimentalmente: Controlador Proporcional Integral (PI), Controlador por Alocação de Polos (CAP) e Controlador por Modelo de Referência (CMR). Nas simulações, oito aspectos da resposta foram levados em consideração para realizar a análise do desempenho dos controladores, entre eles: constante de tempo, tempo de acomodação, erro médio, erro de estado estacionário, máxima tensão de alimentação, tensão nominal, valor de pico da velocidade e sua porcentagem máxima de ultrapassagem. Após a comparação entre os aspectos mencionados, foi concluído que o CMR apresentou o melhor desempenho, mas que o PI e o CAP eram viáveis, embora o PI exigisse um saturador. Em seguida, os controladores foram implementados experimentalmente, onde o CMR apresentou um tempo de assentamento maior que o esperado, devido ao seu projeto ter sido baseado em um modelo simplificado. Desta forma, o PI e o CAP se mostraram alternativas viáveis para regulação de velocidade do sistema. Palavras-chave: Controle Proporcional Integral. Controle por Alocação de Polos. Controle por Modelo de Referência. Soldador Linear Automático. An investigative study on fixed-gains controllers: study case on velocity control of automatic linear welder Abstract In this work, an investigative study about speed control of an automatic linear welder is provided. Thus, three controllers are designed to perform an in-depth analysis of their responses, satisfying design requirements. The following techniques are simulated and experimentally compared: Proportional-Integral (PI) Controller, Pole-Placement Controller (PPC) and Model Reference Controller (MRC). By simulations, eight response aspects were taken into account to analyze four controllers’ performance: time constant, settling time, average error, steady state error, maximum voltage supply, nominal voltage supply, velocity peak value and its maximum overshoot percentage. After a thorough comparison among aforementioned aspects, it was concluded that the MRC presented the best performance, however, PI and PPC are alsofeasible, even PI requiring a saturator. Next, the controllers were implemented experimentally, where MRC presented settlement time greater than expected, due to this design be realized using a simplified plant model. Thereby, PI and PPC emerged as feasible alternatives to system velocity control. Keywords: Proportional Integral Controller. Pole-Placement Controller. Model Reference Controller. Automatic Linear Welder.

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“…Ding et al (2016) came up with a fully automated RWAAM system, which contained almost all the necessary modules including slicing, path planning, weld setting and post process. Weis et al (2017) proposed a system for automated seam tracking based on passive monocular vision which provided a data feedback to the automated robotic welding system allowing quality and productivity gains. Pires and Azar (2018) presented a detailed description on how to implement AM process with current robot manipulators.…”

Section: Introductionmentioning

confidence: 99%

Fabrication of curved overhanging thin-walled structure with robotic wire and arc additive manufacturing (RWAAM)

Qin

et al. 2019

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Purpose Robotic wire and arc additive manufacturing (RWAAM) is becoming more and more popular for its capability of fabricating metallic parts with complicated structure. To unlock the potential of 6-DOF industrial robots and improve the power of additive manufacturing, this paper aims to present a method to fabricate curved overhanging thin-walled parts free from turn table and support structures. Design/methodology/approach Five groups of straight inclined thin-walled parts with different angles were fabricated with the torch aligned with the inclination angle using RWAAM, and the angle precision was verified by recording the growth of each layer in both horizontal and vertical directions; furthermore, the experimental phenomena was explained with the force model of the molten pool and the forming characteristics was investigated. Based on the results above, an algorithm for fabricating curved overhanging thin-walled part was presented and validated. Findings The force model and forming characteristics during the RWAAM process were investigated. Based on the result, the influence of the torch orientation on the weld pool flow was used to control the pool flow, then a practical algorithm for fabricating curved overhanging thin-walled part was proposed and validated. Originality/value Regarding the fabrication of curved overhanging thin-walled parts, given the influences of the torch angles on the deposited morphology, porosity formation rate and weld pool flow, the flexibility of 6-DOF industrial robot was fully used to realize instant adjustment of the torch angle. In this paper, the deposition point and torch orientation of each layer of a robotic fabrication path was determined by the contour equation of the curve surface. By adjusting the torch angle, the pool flow was controlled and better forming quality was acquired.

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Automated seam tracking system based on passive monocular vision for automated linear robotic welding process

Cited by 13 publications

References 29 publications

Intelligent Robotic Welding Based on a Computer Vision Technology Approach

Intelligent Robotic Welding Based on a Computer Vision Technology Approach

Um estudo investigativo sobre controladores de ganhos fixos: estudo de caso no controle de velocidade de um soldador linear automático

Fabrication of curved overhanging thin-walled structure with robotic wire and arc additive manufacturing (RWAAM)

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