A Novel 3D Complex Welding Seam Tracking Method in Symmetrical Robotic MAG Welding Process Using a Laser Vision Sensing

The welding seam tracking operation ensures that the welding torch of the welding robot can go with the welding seam during the whole symmetrical robotic welding procession. To achieve three-dimensional complex welding seams tracking, a four-step welding seam tracking system is suggested based on se...

Full description

Saved in:
Bibliographic Details
Published in:Symmetry (Basel) 2023-05, Vol.15 (5), p.1093
Main Authors: Zhang, Gong, Huang, Jing, Wu, Yueyu, Yang, Gen, Di, Si, Yuan, Hai, Cao, Xuepeng, Shin, Kyoosik
Format: Article
Language:English
Subjects:
3D welding seam
Accuracy
Algorithms
Automatic welding
Burrs
Cameras
Coordinates
feature-point extraction
Filtration
Industrial robots
Laser beam welding
laser vision sensing
Lasers
Metal active gas welding
Path planning
Planning
Robotics
Robots
Scanning
Seam tracking
Sensors
Tracking systems
welding robot
Weldments
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The welding seam tracking operation ensures that the welding torch of the welding robot can go with the welding seam during the whole symmetrical robotic welding procession. To achieve three-dimensional complex welding seams tracking, a four-step welding seam tracking system is suggested based on segmented scanning, combined filtering, feature-point extraction, and welding path planning. From using the laser sensor installed at the end of welding robot, the welding seam data was continuously collected in multiple segments by segmented scanning. For the purpose of improving seam tracking accuracy, a combined filtering technique was used to correct the data to reduce the effects of burrs, data distortion, and noise on the surface of the weldment. Then, the feature points were collected so that the coordinate system will be calibrated to identify the welding points. Finally, a spatial welding path was obtained by welding path planning. Experimental investigations of the two-dimensional (2D) symmetrical S-shaped and three-dimensional (3D) curved welding seams were conducted. The obtained results demonstrate the proposed method can form a complete welding path. The average errors of the two weldments are about 0.296 mm and 0.292 mm, respectively. This shows that the proposed tracking method is effective and can provide a reference for the research of high-precision seam tracking and automatic welding.
ISSN:2073-8994
2073-8994
DOI:10.3390/sym15051093