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

• Published in: Robotics and computer-integrated manufacturing Vol. 62; p. 101864
• Main Authors: Lei, Ting, Huang, Yu, Shao, Wenjun, Liu, Weinan, Rong, Youmin
• Format: Journal Article
• Language: English
• 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

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...