Abstract:This paper proposes a robotic system that automatically identifies and removes spatters generated while removing the back-bead left after the electric resistance welding of the outer and inner surfaces during pipe production. Traditionally, to remove internal spatters on the front and rear of small pipes with diameters of 18–25 cm and lengths of up to 12 m, first, the spatter locations (direction and length) are determined using a camera that is inserted into the pipe, and then a manual grinder is introduced u… Show more
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