Intelligent seam tracking for robotic welding
Intelligent Seam Tracking for Robotic Welding is part of the Advances in Industrial Control series, edited by Professor M.J. Grimble and Dr. M.A. Johnson of the Industrial Control Unit, University of Strathclyde. This publication discusses in depth the development of a seam tracking system for robotic welding. Various topics are covered including the theory of seam tracking, details of the sub-systems comprising the intelligent seam tracker and the operation of the seam tracking system with coordinated interaction amongst the various sub-systems. The sources of various seam tracking errors and existing seam tracking systems operating in both structured and unstructured welding environments are also addressed. The work reported builds upon the research conducted during the course of the project ARTIST (Adaptive, RealTime, Intelligent Seam Tracker) at the Applied Research Laboratory of the Pennsylvania State University. Although the book is presented in the context of seam tracking, issues related to systems integration are general in nature and relate to other applications as well.
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An Overview of Seam Tracking Technology
Feature Extraction and Seam Recognition Techniques
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adaptive algorithm applications approach arc welding Base coordinate frame beam position calibration camera matrix Chapter computed continuous model control input cubic polynomials cycle distance encoders end-of-seam Equation factors feature extraction feature points feature surfaces image coordinates initial path inverse kinematic joint geometry Lambertian reflectance laser laser stripe least squares measured microcomputer normal operation parameters position and orientation radius of curvature range data range image processing range values realtime seam tracking represents robot accuracy robot arm Robot Calibration robot controller robot endeffector robotic welding root curve root point rotation Seam coordinate frame seam geometry seam recognition seam tracking system seam type seam's segments Sensor coordinate frame Sensor frame sequence signal stripe image structured light tack weld through-the-arc torch axis torch position Torchtip coordinate frame tracking cycle tracking error tracking speed unstructured environment vector vee-groove weld seam welding process control wirefeed workpiece world coordinates