<title>A Real-Time Optical Profile Sensor For Robot Arc Welding</title>

Abstract

For robot ano automated arc welding a compact 3D vision sensor has been developed. It generates data to correct the preprogrammed welding path. It can find the starting point of toe seam, calculate the seam volume for process control and detect tack welds, all in real-time with submillimeter resolution. Mounted to the robot hand the He-Ne laser-based scanning triangulation sensor takes distance measurements to the workpiece at a 2000/s rate. Preproduction models were tested in operation for the effects of arclight, heat, smoke, spatter ano e.m.i., using various combinations of the welding_ parameters: process (MIG, TIG), mode (short cktg, globular, spray), welding current and voltage, protective gas (He, Ar, CO2) and travel speed. Included in the paper is a discussion of environmental influences and of closed-loop operation.