Automatic teaching of welding robot for free-formed seam using laser vision sensor

Pyunghyun Kim, Sehun Rhee, Chang Hee Lee

Research output: Contribution to journalArticle

36 Scopus citations

Abstract

In order to enhance the flexibility of the robotic welding, it is necessary to generate the robot path automatically. In this paper, the automatic teaching of the welding robot for free-formed seam was implemented through the range data acquired by the laser vision sensor. The geometric modeling of objects such as the worktable and weld joint were performed from sequential range data. The orientation as well as the position of the torch was determined by the geometric models, and the path of the welding robot was automatically generated. Experiments for the free-formed seam showed that the proposed method performed sucessfully.

Original languageEnglish
Pages (from-to)173-182
Number of pages10
JournalOptics and Lasers in Engineering
Volume31
Issue number3
DOIs
StatePublished - 1999 Mar

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