Joint tracking and adaptive robotic welding using vision sensing of the weld joint geometry

Abstract

An approach to the vision-guidance of welding robots and the in-process adjustment of welding conditions is presented. The implementation of a complete vision-guided adaptive robotic welding system is described. The vision-guided adaptive welding system described here has been used to track and weld a wide variety of test and production parts ranging in size from 1.6-mm (1/16-in.) sheet steel to 19.1-mm (3/4-in.) steel plate. Both conventional joint types, including square butt, lap, and V-groove, and special types, such as a multipass square butt submerged arc weld with pre-welded root passes or the axle joints were welded. Various welding procedures, such as GMA welding with a variety of shielding gases and submerged arc welding, have also been used.