A tactual weld seam tracking method in super narrow gap of thick plates

The contact-type displacement and angular sensors were improved and utilized in weld seam trajectory detection. A detection–compensation–tracking system was developed. The mechanical part of this system was installed and independent of the robot, which can realize the detection of right-left deviati...

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Bibliographic Details
Published inRobotics and computer-integrated manufacturing Vol. 62; p. 101864
Main Authors Lei, Ting, Huang, Yu, Shao, Wenjun, Liu, Weinan, Rong, Youmin
Format Journal Article
LanguageEnglish
Published Oxford Elsevier Ltd 01.04.2020
Elsevier BV
Subjects
Algorithms
Contact angle
Contact-type sensors
Deviation
Grooves
Interpolation
Online detection
Real time compensation
Seam tracking
Thick plates
Tracking systems
Weld seam tracking
Weld seam tracking
Contact-type sensors
Real time compensation
Online detection
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Summary:The contact-type displacement and angular sensors were improved and utilized in weld seam trajectory detection. A detection–compensation–tracking system was developed. The mechanical part of this system was installed and independent of the robot, which can realize the detection of right-left deviation and up–down offset of the weld path. In the experiment, the position coordinates of the detection point in weld groove were calculated and weld seam tracking was carried out simultaneously owing to its single control system. When the absolute interpolation algorithm was adopted, the average error of width deviation and depth deviation were 0.1817 mm and 0.1449 mm, respectively. [Display omitted]
Bibliography:ObjectType-Article-1
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ISSN:0736-5845
1879-2537
DOI:10.1016/j.rcim.2019.101864