| Download | - View final version: Adaptive robotic welding using a rapid image pre-processor (PDF, 1.1 MiB)
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| DOI | Resolve DOI: https://doi.org/10.1117/12.939260 |
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| Author | Search for: Dufour, M.1; Search for: Begin, G.1 |
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| Editor | Search for: Casasent, David P.; Search for: Hall, Ernest L. |
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| Affiliation | - National Research Council of Canada
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| Format | Text, Article |
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| Conference | 1983 Cambridge Symposium - 3rd International Conference on Robot Vision and Sensory Controls (Intelligent Robots), November 7-10, 1983, Cambridge, Massachusetts, United States |
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| Subject | cameras; metals; visualization; image analysis; video; image processing; robotics; algorithm development; electrodes; receivers |
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| Abstract | The rapid pre-processor initially developed by NRCC and Leigh Instruments Inc. as part of the visual aid system of the space shuttle arm 1 has been adapted to perform real time seam tracking of multipass butt weld and other adaptive welding functions. The weld preparation profile is first enhanced by a projected laser target formed by a line and dots. A standard TV camera is used to observe the target image at an angle. Displacement and distorsion of the target image on a monitor are simple functions of the preparation surface distance and shape respectively. Using the video signal, the pre-processor computes in real time the area and first moments of the white level figure contained within four independent rectangular windows in the field of view of the camera. The shape, size, and position of each window can be changed dynamically for each successive image at the standard 30 images/sec rate, in order to track some target image singularities. Visual sensing and welding are done simultaneously. As an example, it is shown that thin sheet metal welding can be automated using a single window for seam tracking, gap width measurement and torch height estimation. Using a second window, measurement of sheet misalignment and their orientation in space were also achieved. The system can be used at welding speed of up to 1 m/min. Simplicity, speed and effectiveness are the main advantages of this system. |
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| Publication date | 1984-02-06 |
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| Publisher | Society of Photo‑Optical Instrumentation Engineers (SPIE) |
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| Licence | - Copyright 1984 Society of Photo‑Optical Instrumentation Engineers (SPIE). One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this publication for a fee or for commercial purposes, and modification of the contents of the publication are prohibited.
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| Language | English |
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| Peer reviewed | Yes |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | 441bc21c-4e2a-4c27-a2d6-de4a6bae745b |
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| Record created | 2023-05-02 |
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| Record modified | 2023-05-02 |
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