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Vol. 176, Issue 8, August 2014, pp. 225-230




Study on Intelligent Control of Metal Filling System by Welding Robots
in the Open Environment

* Wei Fu, Zhenguo Ouyang, Chengxian Zhou, Yan Chen

Xiamen University of Technology, 600, Li Gong Rd, Ji Mei, Xia Men, Postcode 361024, China
* Tel.: +86-05925798572

* E-mail: fuwei665@xmut.edu.cn


Received: 22 May 2014 /Accepted: 31 July 2014 /Published: 31 August 2014

Digital Sensors and Sensor Sysstems


Abstract: robot model of three-arm and five-degree freedom plus large scope of traversing welding was established, and decoupling of models of “large scope of traversing”, “triangle movement of two arms” and “spherical movement of one arm” was realized. The model of “triangle movement of two arms ”is able to use geometrical calculation to solve the kinematics inverse problem , avoid the multiplicity, improve the calculation speed, eliminate the blind spots of the motions of welding gun of welding robot, and simplify the kinematic pair of kinematic mechanism for the arc filling strategy during welding travelling of robot. Binocular stereo vision camera was used to detect the edges of welds, and laser array sensor was used to detect the amount of metal filling of welds. In completely open conditions, feedback was fused based on sensor data to realize the welding tracking control by welding robot.


Keywords: Welding robot, Kinematics inverse problem, Binocular stereo vision camera, Metal filling, Laser array sensor.


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