Development of mobile robot for pipe welding with visual sensor
- Keio Univ., Yokohama (Japan)
- Kawasaki Steel Corp., Chiba (Japan)
An autonomous mobile robot with visual sensor and four driving axes for pipe welding was constructed. The robot can move along a pipe, and detect the weld line to be welded by visual sensor. Moreover, in order to perform welding automatically, the welding torch can track the weld line of the pipes by rotating the robot head. In the case of welding of T-joint of pipes, the robot can detect the contact angle between the two base metals to be welded, and the torch angle changes according to the contact angle. As the result of tracking test by the robot system, it was made clear that the recognition of the geometry of the T-joint by the laser lighting method and automatic seam tracking were possible. The average tracking error was 0.4 mm approximately and the torch angle could be always kept at the optimum angle.
- OSTI ID:
- 433617
- Report Number(s):
- CONF-940409--; ISBN 1-880653-10-9
- Country of Publication:
- United States
- Language:
- English
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