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Proceedings Paper

A Real-Time Optical Profile Sensor For Robot Arc Welding
Author(s): G L Oomen; W J.P.A Verbeek
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Paper Abstract

For robot ano automated arc welding a compact 3D vision sensor has been developed. It generates data to correct the preprogrammed welding path. It can find the starting point of toe seam, calculate the seam volume for process control and detect tack welds, all in real-time with submillimeter resolution. Mounted to the robot hand the He-Ne laser-based scanning triangulation sensor takes distance measurements to the workpiece at a 2000/s rate. Preproduction models were tested in operation for the effects of arclight, heat, smoke, spatter ano e.m.i., using various combinations of the welding_ parameters: process (MIG, TIG), mode (short cktg, globular, spray), welding current and voltage, protective gas (He, Ar, CO2) and travel speed. Included in the paper is a discussion of environmental influences and of closed-loop operation.

Paper Details

Date Published: 16 February 1984
PDF: 12 pages
Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); doi: 10.1117/12.939224
Show Author Affiliations
G L Oomen, OLDELFT (The Netherlands)
W J.P.A Verbeek, OLDELFT (The Netherlands)


Published in SPIE Proceedings Vol. 0449:
Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls
David P. Casasent; Ernest L. Hall, Editor(s)

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