Abstract
Aiming at the deficiencies of the vision technology that canot be used in the height tracking of the 3D weld seam during teaching-playback robot gas tungsten argon welding (GTAW) process, this paper designed a set of arc sensor system for height tracking of weld seam, which can effectively acquire arc voltage signals. The characteristic values of arc voltage signals are extracted and a linear relational model between arc voltage and arc length was established by using appropriate denoising algorithm. The experimental results demonstrate that the error between the arc length calculated by linear model and the real arc length was very small, which is accurate enough to meet the requirements of the follow-up height tracking and controlling during the welding robot GTAW process.
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Xu, Y., Zhong, J., Ding, M. et al. The acquisition and processing of real-time information for height tracking of robotic GTAW process by arc sensor. Int J Adv Manuf Technol 65, 1031–1043 (2013). https://doi.org/10.1007/s00170-012-4237-6
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DOI: https://doi.org/10.1007/s00170-012-4237-6