A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Autonomous Acquisition of Seam Coordinates for Arc Welding Robot Based on Visual Servoing
Journal of Intelligent and Robotic Systems
Detection of fillet weld joints using an adaptive line growing algorithm for robotic arc welding
Robotics and Computer-Integrated Manufacturing
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Aiming at the shortcomings of teaching-playback robot that can't track the three-dimensional welding seam in real time during GTAW process, this paper designed a set of composite sensor system for tracking the three-dimensional welding seam based on visual sensor and arc sensor technology, which can effectively acquire three-dimensional welding seam information, such as clear images of seam and pool and stable arc voltage signals. The characteristic values of weld image and arc voltage signals were accurately extracted by using proper processing algorithm, and the experiments have been done to verify the precision of processing algorithms. The results demonstrate that the error is very small, which is accurate enough to meet the requirements of the subsequent real-time tracking and controlling during the welding robot GTAW process.