Seam tracking and welding speed control of mobile robot for lattice type welding

Jeon, Young‐Joo; Kam, Byoung Oh; Park, Soon Sil; Kim, Sang Bong

doi:10.1109/isie.2001.931580

Cited by 4 publications

(3 citation statements)

References 7 publications

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“…Within the scope of the authors' limited searching capability, there is no literature found that studies welding torch orientation sensing in a manual arc welding process. A number of previous researchers focused on welding position sensing in robotic welding [17][18][19][20][21]. However, those studies addressed the spatial position of the tungsten tip (in GTAW) or the wire tip (in GMAW) relative to a visual reference (e.g., a laser marker), indicating the location of a weld seam.…”

Section: Related Workmentioning

confidence: 99%

Measurement of three-dimensional welding torch orientation for manual arc welding process

Zhang¹,

Xiao²,

Chen³

et al. 2014

Meas. Sci. Technol.

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Torch orientation plays an important role in welding quality control for a manual arc welding process. The detection of the torch orientation can facilitate weld monitoring, welder training, and may also open a door to many other interesting and useful applications. Yet, little research has been done in measuring the torch orientation in the manual arc welding process. This paper introduces a torch orientation measurement scheme that can be conveniently incorporated both in a real manual arc welding process and in a welder training system. The proposed measurement employs a miniature wireless inertial measurement unit (WIMU), which includes a tri-axial accelerometer and a tri-axial gyroscope. A quaternion-based unscented Kalman filter (UKF) has been designed to estimate the three-dimensional (3D) torch orientation, in which the quaternion associated with the orientation is included in the state vector, as is the angular rate measured by the gyroscope. In addition, an auto-nulling procedure has been developed where the WIMU drift and measurement noise are captured and adaptively compensated in-line to ensure the measurement accuracy. The performance of the proposed scheme has been evaluated by simulations and welding experiments with different types of processes and fit-ups. The simulation results show that the inclination (x- and y-axes) of the torch has been accurately measured with a root-mean-square error (RMSE) in the order of 0.3°. The major error obtained in the heading (z-axis) measurement has been reduced significantly by the proposed auto-nulling procedure. Statistics from welding experiments indicate the proposed scheme is able to provide a complete 3D orientation measurement with the RMSE in the order of 3°.

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Section: Related Workmentioning

confidence: 99%

Measurement of three-dimensional welding torch orientation for manual arc welding process

Zhang¹,

Xiao²,

Chen³

et al. 2014

Meas. Sci. Technol.

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“…Electric cross sliding frame can also be used as industrial other occasions of horizontal and vertical direction adjustment. This paper takes Zhangzhou Weide Welding Technology Development Co. Ltd. WDSF electric cross sliding frame as an example, study the design of automatic control in the VC++ environment [3].…”

Section: Introductionmentioning

confidence: 99%

Automatic Control of the Electric Cross Sliding Welding Based on VC++

Qian

Pei

2014

AMM

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By controlling the electric cross sliding planes to achieve welding automation, Propose a VC++ based automatic control system. Based on electric electrical characteristics of cross slip planes, designed the hardware systems and control processes, use the VC++ software design a self-adjustment factor of Fuzzy-PID composite controller for control. Welding experiment had proved that the automatic tracking control result, and the result meets industry requirements.

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“…This ability to fixate simplifies many higher-level vision problems, such as docking [3]. Tracking itself is a fundamental operation in robotic vision to facilitate control (e.g., [12], [5]). It also facilitates image understanding by recovering motion [22] and through recognition of object [25] and shape [6].…”

Section: Introductionmentioning

confidence: 99%

Efficient active monocular fixation using the log-polar sensor

Yeung¹,

Barnes²

2005

IJISTA

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Abstract-This paper applies a sensor which has been developed based on a model of primate vision to corner fixation. Fixation is critical for the log-polar sensor as many of the sensor's advantages are demonstrated only under fixation. This paper presents a fast corner fixation algorithm using the log-Hough transform to find the dominant centre-most corner and aligning the optical axis with the corner. The algorithm has been implemented in a real-time closed-loop control system on a pan-tilt platform, This paper demonstrates an important benefit of the log-polar sensor with vote-based algorithms, an emphasis of foveal pixels. This removes the need for searching explicitly through all detected corner positions in order to locate the most central. In addition, since the sensor has a large field of view for a given number of pixels compared to space-invariant cameras, it shows increased computational performance, while still supporting accurate fixation.

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Seam tracking and welding speed control of mobile robot for lattice type welding

Cited by 4 publications

References 7 publications

Measurement of three-dimensional welding torch orientation for manual arc welding process

Measurement of three-dimensional welding torch orientation for manual arc welding process

Automatic Control of the Electric Cross Sliding Welding Based on VC++

Efficient active monocular fixation using the log-polar sensor

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