2021
DOI: 10.3390/s21155077
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Sensor-Enabled Multi-Robot System for Automated Welding and In-Process Ultrasonic NDE

Abstract: The growth of the automated welding sector and emerging technological requirements of Industry 4.0 have driven demand and research into intelligent sensor-enabled robotic systems. The higher production rates of automated welding have increased the need for fast, robotically deployed Non-Destructive Evaluation (NDE), replacing current time-consuming manually deployed inspection. This paper presents the development and deployment of a novel multi-robot system for automated welding and in-process NDE. Full extern… Show more

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Cited by 30 publications
(20 citation statements)
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“…The real-time corrections (every 4 milliseconds) of the robot's motion, based on linear interpolation, and control used for the in-process NDE work were based on a flexible robotic motion framework presented in [15] and developed for in-process inspection and automated NDE purposes. During the inspection, real-time adjustments of the inspection robot velocity, acceleration and contact force were available.…”
Section: Nde Softwarementioning
confidence: 99%
See 2 more Smart Citations
“…The real-time corrections (every 4 milliseconds) of the robot's motion, based on linear interpolation, and control used for the in-process NDE work were based on a flexible robotic motion framework presented in [15] and developed for in-process inspection and automated NDE purposes. During the inspection, real-time adjustments of the inspection robot velocity, acceleration and contact force were available.…”
Section: Nde Softwarementioning
confidence: 99%
“…Recently published research has presented an important advancement in the field of automated in-process NDE of arc-based welding processes [12][13][14], which are manufacturing methods with similar applicable attributes and challenges to WAAM. The development of a multi-robot welding cell demonstrated the possibility of robotic welding and automated ultrasound NDE [15]. Full automation was achieved by a novel sensor-enabled robotic system based around a real-time embedded controller which enabled: (a) real-time communication, (b) data acquisition and (c) control of the process.…”
Section: Introductionmentioning
confidence: 99%
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“…The need to perform a preliminary geometry reconstruction step to inform the accurate path-planning task is removed by establishing real-time control feedback loops and enabling online corrections to the original paths. Therefore, different kinds of sensors, such as force-torque sensors [8], proximity sensors [9], laser trackers [10] and/or cameras [11,12], have been employed to correct predefined tool paths during their execution. The usefulness to correct predefined tool paths is evident in robotic sensing applications and some specific automated manufacturing operations.…”
Section: Related Workmentioning
confidence: 99%
“…An approach based on RGB-D cameras, acoustic and tactile transducers has been proposed to monitor loss of ablation and missed coverage due to misalignment in robotic gritblasting [13]. To make automated welding more reliable and improve weld quality, the scientific literature reports methods for tool path correction based on eye-in-hand configurations through cameras [12] and laser profilers [10] for the weld seam detection.…”
Section: Related Workmentioning
confidence: 99%