Welding robotic systems with visual sensing and real-time control of dynamic weld pool during pulsed GTAW

被引：0
|
作者：
Chen, SB [1 ]
Zhang, Y
Lin, T
Qiu, T
Wu, L
机构：
[1] Shanghai Jiao Tong Univ, Inst Welding Engn, Shanghai 200030, Peoples R China
[2] Tsinghua Univ, Dept Mech Engn, Beijing 100084, Peoples R China
[3] Harbin Inst Technol, NKLAWPT, Harbin 150001, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2004年 / 19卷 / 01期
关键词：
robotic welding; visual sensing; real-time control; dynamic weld pool; topside weld shape;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Real-time sensing and control of weld pool dynamics are important techniques to ensure expected weld quality because there are many uncertain effects during robotic arc welding. A current teaching play-back welding robot is not provided with this real-time function for sensing and control of the weld process. In our research, using composite filtering technology, a computer vision sensing system was established and clear weld pool images during pulsed Gas Tungsten Arc Welding (GTAW) were captured in robot moving process. A corresponding image-processing algorithm has been developed to acquire characteristic parameters of the weld pool in real time. Based on both PID controller and neuron self-learning PSD controller design, real-time control of dynamic weld pool for topside weld shape during robotic-pulsed GTAW process has been realized in this study.
引用
收藏
页码：28 / 35
页数：8
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