Design and validation of a universal 6D seam-tracking system in robotic welding using arc sensing

Fridenfalk, Mikael; Bolmsjö, Gunnar

doi:10.1163/156855304322753272

Cited by 28 publications

(13 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Thereby, by identifying equations (15) and (16), we can easily deduce (after some mathematical arrangements) the expression of the mirror velocity as a function of the laser spot velocities in the image planes…”

Section: Revisited Three-view Geometrymentioning

confidence: 99%

“…brahim.tamadazte@femto-st.fr accurately modelled (geometric, optical and modelling) and even calibrated (compensation of the different mechanical imperfections of the mirror/prism mechanism) [14]. On the other hand, closed-loop approaches are generally based on the use of vision feedback, such as trajectory tracking [9], [15], path following [11], [14], [16], and point-to-point methods [19]. Path following in mobile robotics has been widely studied in the literature for many years and has found several applications in the industrial fields (e.g., autonomous vehicle control, farming application).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Laser Beam Steering Along Three-Dimensional Paths

Tamadazte

Renevier

Seon

et al. 2018

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

This paper deals with the development of a visionbased control scheme for 3D laser steering. It proposes to incorporate a simplified trifocal constraint inside a path following scheme in order to ensure intuitively a 3D control of laser spot displacements in unknown environment (target). The described controller is obtained without complex mathematical formulation nor matrix inversion as it requires only weak camera and hand-eye calibration. The developed control law was validated in both simulation and experimental conditions using various scenarios (e.g., static and deformable 3D scenes, different control gains, initial velocities, etc.). The obtained results exhibit good accuracy and robustness with respect to the calibration and measurement errors and scene variations. In addition, with this kind of laser beam steering controller, it becomes possible to perfectly decouple the laser spot velocity from both the path shape and time. These features can fit several industrial applications (welding, micromachining, etc.) as well as surgical purposes (e.g., laser surgery) requirements. • a geometric task, which consists of approaching the robot to the desired curve, • a dynamic assignment task, which assigns a velocity profile (instead of time) to the desired curve.

show abstract

Section: Revisited Three-view Geometrymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Laser Beam Steering Along Three-Dimensional Paths

Tamadazte

Renevier

Seon

et al. 2018

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…Vision-based steering can be found an important issue for industrial applications that use laser scanning process. There are several works reported in the literature, especially in vision-based control (often in open-loop mode) supervision of welding process (Sibillano et al, 2009), for example using a robotic arm which embeds the vision system as well as the laser source (Fridenfalk and Bolmsjö, 2004;Huang et al, 2012;. In addition, precise, efficient laser steering can find applications in 2D/3D laser-based micromachining (e.g., microsystems fabrication, semiconductors, glasses, etc) (Rajesh and Bellouard, 2010;Petrak et al, 2011) as well as in free-contact micromanipulation techniques (e.g., laser trapping) (Nahmias and Oddel, 2002;Arai et al, 2004).…”

Section: Medical Objectivesmentioning

confidence: 99%

Laser steering using virtual trifocal visual servoing

Andreff

Tamadazte

2015

The International Journal of Robotics Research

View full text Add to dashboard Cite

This paper focuses on the development of a weakly calibrated three-view based visual servoing control law applied to laser steering process. It proposes to revisit the conventional trifocal constraints governing a three-view geometry for a more suitable use in the design of an efficient trifocal vision-based control. Thereby, an explicit control law is derived, without any matrix inversion, which allows to simply prove the global exponential stability of the control. Moreover, only "twenty-five lines of code" are necessary to design a fast trifocal control system. Despite or thanks to the simplicity of the implementation, our control law is fast, accurate, robust to errors on the weak calibration, and exhibits good behavior in terms of convergence and decoupling. This was demonstrated by different experimental validations performed on a test-bench for the steering of laser spot on a 2D and 3D surface using a two degrees-of-freedom commercial piezoelectric mirror, as well as in preliminary cadaver trials using an endoluminal micromirror prototype.

show abstract

“…Existe uma gama considerável de soluções de sensores para a soldagem a arco [2]. As patentes e publicações científicas nesta área de aplicação mostram que sensores LASER e sensores a arco baseado na corrente de solda estão substituindo antigos sistemas [3].…”

Section: Desenvolvimento E Validação De Algoritmos Para Emprego De Seunclassified

Desenvolvimento e Validação de Algoritmos para Emprego de Sensores na Soldagem Robótica Orbital do Passe de Raiz de Tubulações

2015

View full text Add to dashboard Cite

Este é um artigo publicado em acesso aberto (Open Access) sob a licença Creative Commons Attribution Non-Commercial, que permite uso, distribuição e reprodução em qualquer meio, sem restrições desde que sem fins comerciais e que o trabalho original seja corretamente citado.Recebido: 13 Nov., 2015 Aceito: 11 Dez., 2015 E-mail: renan.kindermann@labsolda.ufsc.br (RMK)Resumo: Os sistemas comerciais destinados à automação da soldagem orbital enfrentam desafios perante o controle da trajetória e a parametrização do processo. Os tubos e dutos do setor de Petróleo e Gás apresentam descontinuidades, advindas de sua fabricação, críticas para o processo de soldagem. Para superar isto, o presente trabalho investiga a utilização de sensores para correção em tempo real da soldagem orbital. Um robô antropomórfico atua na condução da tocha. Um sensor a arco para seguimento de junta e um sensor baseado no contato elétrico para procura da junta foram empregados. Um programa em forma de algoritmos para geração de uma trajetória orbital automática e alocação dos parâmetros de soldagem foi desenvolvido. A validação da estratégia proposta e do controle da tocha pelo sensor a arco foi realizada com depósitos em corpos de prova de tubos. A soldagem do passe de raiz com um processo MIG/MAG com controle de corrente no curto-circuito também foi executada em conjunto com o sensor a arco.Palavras-chave: Soldagem orbital; Soldagem robótica; Sensor a arco; MIG/MAG CCC. Development and Validation of Algorithms Employed for Sensor Systems in Robotic Orbital Root Pass Welding of PipelinesAbstract: The commercial welding systems for orbital welding automation face challenges regarding the robot path control and the process parameters. Pipes from oil and gas companies present discontinuities caused by the manufacturing stage that are critical for the welding process. To overcome this, the present paper investigates the use of sensors for real time correction in orbital welding. An anthropomorphous robot guides the torch. A through-arc sensor for seam tracking and an electrical contact sensor for seam finding were employed. A program for automatic path planning and welding parameters allocation was developed. The proposed strategy and the arc sensor torch control were validated based on weld deposits on pipe. The root pass welding was next performed using a short-circuit control GMAW process with the arc sensor.

show abstract

Design and validation of a universal 6D seam-tracking system in robotic welding using arc sensing

Cited by 28 publications

References 6 publications

Laser Beam Steering Along Three-Dimensional Paths

Laser Beam Steering Along Three-Dimensional Paths

Laser steering using virtual trifocal visual servoing

Desenvolvimento e Validação de Algoritmos para Emprego de Sensores na Soldagem Robótica Orbital do Passe de Raiz de Tubulações

Contact Info

Product

Resources

About