Abstract
This paper presents three main contributions: (i) an experimental analysis of variables, using well-defined statistical patterns applied to the main parameters of the welding process. (ii) An on-line/off-line learning and testing method, showing that robots can acquire a useful knowledge base without human intervention to learn and reproduce bead geometries. And finally, (iii) an on-line testing analysis including penetration of the bead, that is used to train an artificial neural network (ANN). For the experiments, an optic camera was used in order to measure bead geometry (width and height). Also real-time computer vision algorithms were implemented to extract training patterns. The proposal was carried out using an industrial KUKA robot and a GMAW type machine inside a manufacturing cell. We present expermental analysis that show different issues and solutions to build an industrial adaptive system for the robotics welding process.
Similar content being viewed by others
References
BBC NEWS, Facebook to open AI lab in Paris (2015) Technology section, link: http://www.bbc.com/news/technology-32977242, Consulted on June 2, 2015
Gorle P, Clive A (2013) Positive impact of industrial robots on employment. International Federation of Robotics. METRA MARTECH Limited
World Robotics 2013 (2013) Industrial robots. International Federation of Robotics
Gorle P, Clive A (2013) Positive impact of industrial robots on employment. International Federation of Robotics. METRA MARTECH Limited
Aviles-Vias JF, Lopez-Juarez I, Rios-Cabrera R (2015) Acquisition of welding skills in industrial robots. Indus Robot: Int J 42(2):156–166
Aviles-Vias JF, Rios-Cabrera R, Lopez-Juarez I (2015) On-line learning of welding bead geometry in industrial robots. In: The international journal of advanced manufacturing technology, pp 1-15. ISSN 0268-3768, doi:10.1007/s00170-015-7422-6
Grossberg S, Markuzon N, Reynolds JH, Carpenter GA, Rosen DB (1992) Fuzzy ARTMAP: a neural network architecture for incremental supervised learning of analog multidimensional maps. IEEE Trans Neural Netw 3(5)
Kah P, Shrestha M, Hiltunen E, Martikainen J (2015) Robotic arc welding sensors and programming in industrial applications. Int J Mech Mater Eng 10. doi:10.1186/s40712-015-0042-y. issn: 1823-0334, Nr 1
Li S, Chen G, Zhou C (2015) Effects of welding parameters on weld geometry during high-power laser welding of thick plate. Int J Adv Manuf Technol 79:177–182. doi:10.1007/s00170-015-6813-z. issn: 0268–3768, Nr. 1–4
Ganjigatti JP, Pratihar DK, RoyChoudhury A (2008) Modeling of the MIG welding process using statistical approaches. Int J Adv Manuf Technol 35:1166–1190
Luo H, Chen X (2005) Laser visual sensing for seam tracking in robotic arc welding of titanium alloys. Int J Adv Manuf Technol 26:1012–1017
Horvat J, Prezelj J, Polajnar I, Cudina M (2011) Monitoring gas metal arc welding process by using audible sound signal. Strojniski vestnik-J Mech Eng 57(3):267–278
Cudina M, Prezelj J, Polajnar I (2008) Use of audible sound for on-line monitoring of gas metal arc welding process. Metalurgia 47(2):81–85
Na Lv, Yanling X, Zhong J, Chen H (2013) Research on detection of welding penetration state during robotic GTAW process based on audible arc sound. Indus Robot: Int J 40(/5):474–493
Kolahan F, Heidari M (2010) A new approach for predicting and optimizing weld bead geometry in GMAW. Int J Mech Syst Sci Eng 2:2:138–142
Sreeraj P, Kannan T, Maji S (2013) Prediction and control of weld bead geometry in gas metal arc welding process using simulated annealing algorithm. Int J Comput Eng Res 3(1):213– 222
Ma H, Wei S, Lin T, Chen S, Li L (2010) Binocular vision system for both weld pool and root gap in robot welding process. Sensor Rev 30(2):116–123
Kim I-S, Son J-S, Lee S-H, Yarlagadda PKDV (2004) Optimal design of neural networks for control in robotic arc welding. Robot Comput-Int Manuf 20(1):57–63
Ismail MIS, Okamoto Y, Okada A (2013) Neural network modeling for prediction of weld bead geometry in laser microwelding. Adv Opt Technol 2013(Article ID 415837):7
Iqbal A, Khan SM, Mukhtar, Sahir H (2011) ANN assisted prediction of weld bead geometry in gas tungsten arc welding of HSLA steels. In: Proceedings of the World congress on engineering, vol I, WCE 2011. London
Huang W, Kovacevic R (2011) A laser-based vision system for weld quality inspection. J Sensors 11:506–521
Chan B, Pacey J, Bibby M (1999) Modelling gas metal arc weld geometry using artificial neural network technology. Can Metall Q 38(1):43–51
Kim IS, Kwon WH, Siores E (1996) An investigation of a mathematical model for predicting weld bead geometry. Can Metall Q 35(4):385–392
Sreeraj P, Kannan T (2012) Modelling and prediction of stainless steel clad bead geometry deposited by GMAW using regression and artificial neural network models. Adv Mech Eng 2012(Article ID 237379):1–12
Akkas N, Karayel D, Ozkan SS, Ogur A, Topal B (2013) Modeling and analysis of the weld bead geometry in submerged arc welding by using adaptive neurofuzzy inference system mathematical problems in engineering 2013(Article ID 473495):10
Yanling X, Huanwei Y, Zhong J, Lin T, Chen S (2012) Real-time image capturing and processing of seam and pool during robotic welding process. Ind Robot Int J 39(5):513–523
Ye Z, Fang G, Chen S, Dinham M (2013) A robust algorithm for weld seam extraction based on prior knowledge of weld seam. Sensor Rev 33(2):125–133
Fang Z, De X, Ta M (2013) Vision-based initial weld point positioning using the geometric relationship between two seams. Int J Adv Manuf Technol 66:1535–1543
Yanling X, Fang G, Chen S, Zou JJ, Ye Z (2014) Real-time image processing for vision-based weld seam tracking in robotic GMAW. Int J Adv Manuf Technol 73:1413–425
Hardle W, Steiger W (1994) Optimal median smoothing
In: Small BB, Western electric company. Statistical quality control handbook. AT&;T. Mack Printing Company: Easton, pp 161–183 (1958)
Zhang M, Cheng W (2015) Recognition of mixture control chart pattern using multiclass support vector machine and genetic algorithm based on statistical and shape features. Math Problems Eng 2015(Article ID 382395):10
Wang J, Kochhar AK, Hannam RG (1998) Pattern recognition for statistical process control charts. Int J Adv Manuf Technol 14:99–109
Swift JA, Mize JH (1995) Out-of-control pattern recognition and analysis for quality control charts using LISP-based systems. Comput Indus Eng 28(1):81–91
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Rios-Cabrera, R., Morales-Diaz, A.B., Aviles-Viñas, J.F. et al. Robotic GMAW online learning: issues and experiments. Int J Adv Manuf Technol 87, 2113–2134 (2016). https://doi.org/10.1007/s00170-016-8618-0
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00170-016-8618-0