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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| Published in | Robotics and computer-integrated manufacturing Vol. 62; p. 101864 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Oxford
Elsevier Ltd
01.04.2020
Elsevier BV |
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| Online Access | Get full text |
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| Abstract | 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.
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| AbstractList | 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. 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] |
| ArticleNumber | 101864 |
| Author | Liu, Weinan Rong, Youmin Shao, Wenjun Lei, Ting Huang, Yu |
| Author_xml | – sequence: 1 givenname: Ting surname: Lei fullname: Lei, Ting organization: State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China – sequence: 2 givenname: Yu surname: Huang fullname: Huang, Yu organization: State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China – sequence: 3 givenname: Wenjun surname: Shao fullname: Shao, Wenjun organization: State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China – sequence: 4 givenname: Weinan surname: Liu fullname: Liu, Weinan organization: State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China – sequence: 5 givenname: Youmin surname: Rong fullname: Rong, Youmin email: rym@hust.edu.cn organization: State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China |
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| Cites_doi | 10.1016/j.jmatprotec.2012.03.007 10.1007/s10845-009-0267-9 10.1016/j.jmatprotec.2017.04.025 10.1007/s10845-014-0971-y 10.1016/j.jmatprotec.2017.07.005 10.1016/j.optlastec.2017.05.011 10.1109/TIE.2009.2031195 10.1016/j.rcim.2011.06.001 10.1016/j.rcim.2018.08.003 10.1016/j.rcim.2016.05.012 10.1108/IR-04-2016-0120 10.1016/j.optlastec.2007.04.009 10.1007/s00170-016-9481-8 10.1016/j.jmapro.2013.07.002 10.1016/j.rcim.2017.06.004 10.1109/TIM.2013.2283139 10.1109/TIE.2012.2193854 10.1109/JSEN.2017.2730280 10.1179/1362171813Y.0000000180 10.1007/s00170-016-8922-8 10.1016/j.jmatprotec.2016.12.029 |
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| SubjectTerms | Algorithms Contact angle Contact-type sensors Deviation Grooves Interpolation Online detection Real time compensation Seam tracking Thick plates Tracking systems Weld seam tracking |
| Title | A tactual weld seam tracking method in super narrow gap of thick plates |
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