Seam tracking system based on rotating arc sensor for robot arc welding

摘要

Rotating arc sensor is applied to acquire V-shape groove contour information through the change of welding current signals. Most of the current signals which are acquired by NI acquisition card are disturbed by noise, so the wavelet filter and median filter is used to remove the noise. PCA_nu-SVR method is used to discriminant the weld seam centre position through input signals. Command about seam offset is sent to the welding robot with the serial communication to control the movement of torch. The tracking experiment of sidelong shows that the system can meet the demand of the tracking precision.