Joint tracking and adaptive robotic welding using vision sensing of the weld joint geometry
An approach to the vision-guidance of welding robots and the in-process adjustment of welding conditions is presented. The implementation of a complete vision-guided adaptive robotic welding system is described. The vision-guided adaptive welding system described here has been used to track and weld a wide variety of test and production parts ranging in size from 1.6-mm (1/16-in.) sheet steel to 19.1-mm (3/4-in.) steel plate. Both conventional joint types, including square butt, lap, and V-groove, and special types, such as a multipass square butt submerged arc weld with pre-welded root passes or the axle joints were welded. Various welding procedures, such as GMA welding with a variety of shielding gases and submerged arc welding, have also been used.
- Research Organization:
- Automatix, Inc., Billerica, MA
- OSTI ID:
- 5743673
- Journal Information:
- Weld. J. (Miami); (United States), Vol. 65:11
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
WELDING MACHINES
COMPUTERIZED CONTROL SYSTEMS
ROBOTS
AUTOMATION
IMAGE PROCESSING
MONITORING
ORIENTATION
REAL TIME SYSTEMS
VISION
WELDED JOINTS
WELDING
CONTROL SYSTEMS
FABRICATION
JOINING
JOINTS
PROCESSING
360101* - Metals & Alloys- Preparation & Fabrication
990220 - Computers
Computerized Models
& Computer Programs- (1987-1989)