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Proceedings Paper

Adaptive Robotic Welding Using Preview Vision Sensing of Joint Geometry
Author(s): J. E. Agapakis; G. N. Epstein; J. M. Friedman; J. M. Katz; M. Koifman
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Paper Abstract

Conventional robotic welding systems can only be used in applications where parts are highly repeatable and well fixtured. In this paper, vision sensing and processing techniques that permit in-process determination of the position and detailed three-dimensional surface geometry of a weld joint are presented. Structured lighting in the form of a cone of laser light and specialized vision processing schemes are used to obtain three-dimensional geometric surface descriptions from a two-dimensional TV image. This geometric description is used to define joint position, surface orientations, and a variety of cross-sectional measurements such as fill volume, preparation angles, gap size, and presence and dimensions of a previously deposited weld bead or tack weld. The visual feedback is then used for real time control of the torch position relative to the weld joint, and for in-process adjustment of welding process parameters such as welding arc voltage, and wire feed rates.

Paper Details

Date Published: 27 March 1987
PDF: 10 pages
Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937775
Show Author Affiliations
J. E. Agapakis, Automatix Inc. (United States)
G. N. Epstein, Automatix Inc. (United States)
J. M. Friedman, Automatix Inc. (United States)
J. M. Katz, Automatix Inc. (United States)
M. Koifman, Automatix Inc. (United States)


Published in SPIE Proceedings Vol. 0726:
Intelligent Robots and Computer Vision V
David P. Casasent, Editor(s)

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