Seam tracking control for mobile welding robot based on vision sensor

Zhang, Ting; Li, Kai; Yang, Jing

doi:10.1007/s11771-010-0637-7

Cited by 7 publications

(3 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The sensor system is a key part of a welding robot, which can be applied for object detection, welding seam extraction and tracking. Also, many kinds of sensors, such as infrared, arc, and vision sensors have been applied [8][9][10][11]. Nevertheless, a single type of sensor alone is often incapable of completing complicated operations.…”

Section: Introductionmentioning

confidence: 99%

Welding seam recognition and tracking for a novel mobile welding robot based on multi-layer sensing strategy

Liu¹,

Wang²,

Huang³

et al. 2022

Meas. Sci. Technol.

View full text Add to dashboard Cite

Mobile welding robot with adaptive seam tracking ability can greatly improve the welding efficiency and quality, which has been extensively studied. To further improve the automation in multiple station welding, a novel intelligent mobile welding robot consists of a four-wheeled mobile platform and a collaborative manipulator is developed. Under the support of simultaneous localization and mapping (SLAM) technology, the robot is capable of automatically navigating to different stations to perform welding operation. To automatically detect the welding seam, a composite sensor system including an RGB-D camera and a laser vision sensor is creatively applied. Based on the sensor system, the multi-layer sensing strategy is performed to ensure the welding seam can be detected and tracked with high precision. By applying hybrid filter to the RGB-D camera measurement, the initial welding seam could be effectively extracted. Then a novel welding start point detection method is proposed. Meanwhile, to guarantee the tracking quality, a robust welding seam tracking algorithm based on laser vision sensor is presented to eliminate the tracking discrepancy caused by the platform parking error, through which the tracking trajectory can be corrected in real-time. The experimental results show that the robot can autonomously detect and track the welding seam effectively in different station. Also, the multiple station welding efficiency can be improved and quality can also be guaranteed.

show abstract

Section: Introductionmentioning

confidence: 99%

Welding seam recognition and tracking for a novel mobile welding robot based on multi-layer sensing strategy

Liu¹,

Wang²,

Huang³

et al. 2022

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…16) A self-turning fuzzy controller and a fuzzy-Gaussian neural network controller were proposed for seam tracking of a mobile welding machine. 17) The efficiency of GMA welding is better than that of GTA welding. However, the generation of fumes takes places in GMA welding.…”

Section: Introductionmentioning

confidence: 99%

Tracking the Welding Line in Lap Welding Using Pattern Matching

Yamane

2020

ISIJ Int.

View full text Add to dashboard Cite

Lap welding is employed to join thin plate materials in car assemblies. The quality of welding depends on its conditions and seam tracking in the welding line. An arc sensor was employed by oscillating the welding torch in a thick weld. Since the welding torch was not oscillated in the welding of thin plate materials, the arc sensor could not be applied to lap welding. To trace the welding line, the weld pool in pulsed metal active gas (MAG) welding under the shielding gas of Ar 80% and CO 2 20% was pictured using a CMOS camera. The weld pool was observed in the rear to the welding direction. The features of the weld pool were investigated to recognize the welding line. Since the arc affected the brightness of the weld pool, the timing of the shutter of the CMOS camera was synchronized with the current waveform to take clear weld pool images. The welding line was detected using an image processing method. In this paper, a banalization method and a pattern matching method was investigated. The pattern matching method is useful than the binarization method. A digital controller was designed to trace the welding line. The validity of the proposed method was verified by carrying out a tracking experiment.

show abstract

“…Robot welding can improve the working condition of workers and productivity of labor. Seam tracking is one of robot welding key technology [2].seam tracking is that weld seam deviation adopting vision CCD to get adjusts welding robot and cross-slider to move coordinately. The control of welding robot and the technology of weld seam automatic tracking are urgent [3].…”

Section: Introductionmentioning

confidence: 99%

A Fuzzy Controller Design of Seam Tracking for Welding Robot

Yuan

Wang

2012

AMR

View full text Add to dashboard Cite

Kinematics model of welding robot is built in the paper. An improved fuzzy controller (Fuzzy-P) for welding robot mobile platform is designed based on analyzing seam tracking control system. The domain of fuzzy control should not be set too big in order to make system smooth, but the system must respond rapidly. P control can respond rapidly. When weld seam deviation is big,it adopts P control while seam deviation is small, it adopts Fuzzy-P control. The simulation result shows that the improved controller is effective for 45°broken line; the welding torch is able to track the welding seam well.

show abstract

Seam tracking control for mobile welding robot based on vision sensor

Cited by 7 publications

References 4 publications

Welding seam recognition and tracking for a novel mobile welding robot based on multi-layer sensing strategy

Welding seam recognition and tracking for a novel mobile welding robot based on multi-layer sensing strategy

Tracking the Welding Line in Lap Welding Using Pattern Matching

A Fuzzy Controller Design of Seam Tracking for Welding Robot

Contact Info

Product

Resources

About