Arc welding robot system with seam tracking and weld pool control based on passive vision

2007 ◽  
Vol 39 (7-8) ◽  
pp. 669-678 ◽  
Author(s):  
Hong-yuan Shen ◽  
Jing Wu ◽  
Tao Lin ◽  
Shan-ben Chen
Keyword(s):  
Weld Pool ◽  
Arc Welding ◽  
Seam Tracking ◽  
Welding Robot ◽  
Robot System

scholarly journals An adaptive approach to compensate seam tracking error in robotic welding process by a moving fixture

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881620
Author(s):  
Reza Ebrahimpour ◽  
Rasul Fesharakifard ◽  
Seyed Mehdi Rezaei
Keyword(s):  
Weld Pool ◽  
Arc Welding ◽  
Sliding Mode ◽  
Gas Metal Arc Welding ◽  
Tracking Error ◽  
Welding Process ◽  
Seam Tracking ◽  
Ball Screw ◽  
Robotic Welding ◽  
Metal Arc Welding

Welding is one of the most common method of connecting parts. Welding methods and processes are very diverse. Welding can be of fusion or solid state types. Arc welding, which is classified as fusion method, is the most widespread method of welding, and it involves many processes. In gas metal arc welding or metal inert gas–metal active gas, the protection of the molten weld pool is carried out by a shielding gas and the filler metal is in the form of wire which is automatically fed to the molten weld pool. As a semi-metallic arc process, the gas metal arc welding is a very good process for robotic welding. In this article, to conduct the metal active gas welding torch, an auxiliary ball screw servomechanism is proposed to move under a welder robot to track the welded seam. This servomechanism acts as a moving fixture and operates separately from the robot. At last, a decentralized control method based on adaptive sliding mode is designed and implemented on the fixture to provide the desired motion. Experimental results demonstrate an appropriate accuracy of seam tracking and error compensation by the proposed method.

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