Journal of Intelligent & Robotic Systems

, Volume 59, Issue 3–4, pp 283–298

Real-Time Seam Tracking Technology of Welding Robot with Visual Sensing


DOI: 10.1007/s10846-010-9403-1

Cite this article as:
Shen, H., Lin, T., Chen, S. et al. J Intell Robot Syst (2010) 59: 283. doi:10.1007/s10846-010-9403-1


A seam tracking system with visual sensing free from calibration was developed for the robot applied in gas tungsten arc welding. A visual sensor with double-layer filter system was researched for the different levels of the welding current. An image processing in C+ + language was developed to extract the seam trajectory and the offset of the torch to the seam in the welding images of aluminum alloys plates with grooves. The rectifying rule of the robot used in this paper was found based on the experimental data, and the seam tracking controller was also analyzed and constructed. The experimental results on straight line seam and curve seam demonstrated the efficiency of the proposal seam tracking system.


Visual sensing Real time Seam tracking Welding robot 

Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Hongyuan Shen
    • 1
  • Tao Lin
    • 1
  • Shanben Chen
    • 1
  • Laiping Li
    • 2
  1. 1.Institute of Welding EngineeringShanghai Jiao Tong UniversityShanghaiPeople’s Republic of China
  2. 2.Shanghai Spaceflight Precision Machinery Research InstituteShanghaiPeople’s Republic of China

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