An Overview of Seam Tracking Technology
Automation of welding has been difficult to implement due to the extreme tolerances required on both joint preparation and fixturing the weld-parts. This necessitates sensing the joint geometry in order to correctly place the welding torch and also to control the welding process parameters. Seam tracking for welding automation has been implemented using a variety of sensing techniques based on mechanical, electrical, sonic, magnetic, and optical sensors (Jones et al. 1981; Justice 1983). Although each sensing method has its distinct advantages and disadvantages in a given production situation, the through-the-arc and 3-D vision sensing techniques have become the most popular approaches. In addition to the various sensing techniques, research efforts have also been directed towards development of robust seam tracking algorithms.
KeywordsTracking Error Robot Controller Seam Tracking Joint Geometry Scanning Window
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