Joint tracking and adaptive robotic welding using vision sensing of the weld joint geometry

Journal Article · Sat Nov 01 04:00:00 EST 1986 · Weld. J. (Miami); (United States)

OSTI ID:5743673

Agapakis, J E; Katz, J M; Koifman, M; Epstein, G N; Friedman, J M; Eyring, D O; Rutishauser, H J

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), Journal Name: Weld. J. (Miami); (United States) Vol. 65:11; ISSN WEJUA
• Country of Publication: United States
• Language: English

Related Subjects

36 MATERIALS SCIENCE
360101* -- Metals & Alloys-- Preparation & Fabrication
99 GENERAL AND MISCELLANEOUS
990220 -- Computers
Computerized Models
& Computer Programs-- (1987-1989)
AUTOMATION
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
FABRICATION
IMAGE PROCESSING
JOINING
JOINTS
MONITORING
ORIENTATION
PROCESSING
REAL TIME SYSTEMS
ROBOTS
VISION
WELDED JOINTS
WELDING
WELDING MACHINES