Fig. 1 Developed welding profile sensor
Fig. 2 Center of gravity (COG) with thresholding
Fig. 3 Averaging window for smoothing
Fig. 4 Averaging results with different window sizes
Fig. 5 Seam detection of a butt joint
Fig. 6 Three dimensional laser welding
Fig. 7 Sensor guided laser welding robot system
Fig. 8 Control architecture
Fig. 9 Sensor guided control scheme
Fig. 10 Profile measurement of the calibration block
Fig. 11 Sample specimens and their profiles
Fig. 12 Specimen with various gap widths
Fig. 13 Gap measuremen
Fig. 14 S-shaped seam line and its dimension
Fig. 15 Seam tracking results
Fig. 16 Still images of S-shaped seam tracking
참고문헌
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