Abstract:Skilled welders can estimate and control the weld penetration based on weld pool observation. This implies that an advanced control system could be developed to control the penetration by emulating the decision making process of the human welder. In this paper a nonlinear dynamic model is established to correlate the process inputs (welding current and traveling speed) and weld penetration in Gas Tungsten Arc Welding (GTAW). An innovative 3D vision sensing system capable of measuring the weld pool characterist… Show more
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