Robot-sensor synchronization for real-time seamtracking in robotic laser welding

Abstract

The accuracy requirements of laser welding put high demands on the manipulator that is used. To use industrial six-axis robots for manipulating the laser welding optics, sensors measuring the seam trajectory close to the focal spot are required to meet the accuracy demands. When the measurements are taken while the robot is moving, it is essential that they are synchronized with the robot motion. This paper presents a synchronization mechanism between a seam-tracking sensor and an industrial 6-axis robot, which uses Ethernet-based UDP communication. Experimental validation is carried out to determine the accuracy of the proposed synchronization mechanism. Furthermore, a new control architecture, called trajectory-based control is presented, which embeds the synchronization method and allows various sensor-based applications like teaching of a seam trajectory with a moving robot and real-time seam-tracking during laser welding.