Kalman Filtering for Seam Tracking in Master-Slave Robot Remote Welding System

摘要

Welding seam tracking precision is a key factor influencing welding quality for master-slave robot remote welding system. However, it does not satisfy the welding requirement due to significant noises. To eliminate the influence of noises upon the seam tracking precision and improve the seam tracking precision, a master-slave robot remote welding system was built and Kalman filtering (KF) was applied to the seam tracking process. The experimental results show that the KF eliminated the influence of noises upon the seam tracking precision and improved the seam tracking precision.