Browse > Article

A Study on Real-time Control of Bead Height and Joint Tracking  

Lee, Jeong-Ick (인하공업전문대학 기계시스템학부 기계설계과)
Koh, Byung-Kab (인하공업전문대학 기계시스템학부 기계과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.16, no.6, 2007 , pp. 71-78 More about this Journal
Abstract
There have been continuous efforts to automate welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, and using this, the 3 dimensional geometry of the bead is measured in real time. For the application in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.
Keywords
Vision Sensor; 3-D Measurement; ROI(Region of Interest); CCD Camera; Band Pass Filter; Bead Geometry; Diode Laser;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
연도 인용수 순위
1 Barnett, R. J., Cook, G. E. and Strauss, A. M., 1995, 'A vision-based weld quality evaluation system,' Trends in Welding Research, Proccedings of the 4thInternational Conference, 5-8 June, pp. 689-694
2 Pugh, A., 1993, Robot sensors-Vol.1-Vision, International Trends in Manufacturing Technology, Springer-Verlag, Inc., pp. 159-204
3 Agapakis, J. E., 1990, 'Approaches for Recognition and Interpretation of Work Piece Surface Features Using Structured Lighting,' The International Journal of Robotics Research, Vol. 9, No. 5, pp. 3-16
4 Kim, H. K., 1998, Joint Tracking with Real-time Control of Bead Height in GMAW of Horizontal Fillet, Graduate School of Hanyang University
5 Banerjee, P. and Chin, B. A., 1995, 'Gradient technique for dynamic bead width control in robotic GTAW,' Trends in welding research, pp. 937-941
6 Son, J. S., Lee, D. M., Kim, I. S. and Choi, S. G., 2005, 'Prediction for Rolling Force in Hot-rolling Mill Using On-line learning Neural Network,' Transactions of the Korean Society of Machine Tool Engineers, Vol. 14, No. 1, pp. 52-57   과학기술학회마을
7 Taylor, P. L., 1995, 'An integrated optical sensor for GMAW feedback control,' Trends in welding research, pp. 1049-1053
8 Kim, I. S., Prasad and Chon, K. S., 2002, 'Optimal Process Parameters for Achieving the Desired Top-Bead Width in GMA welding Process,' Transactions of the Korean Society of Machine Tool Engineers, Vol. 11, No. 4, pp. 89-96   과학기술학회마을
9 Kim, H. G., Kim, Y. S., Yang, S. M. and Nah, S. C, 2005, 'A Study on Unit Cell Design for the Performance Enhancement in PEMFC System,' Transactions of the Korean Society of Machine Tool Engineers, Vol. 14, No. 4, pp. 104-109   과학기술학회마을
10 Ballard, D. H. and Brown, C. M., 1990, Computer vision, Prentice-Hall, Inc., pp. 484-486
11 Son, J. S., Kim, I. S., Lee, D. M. and Kueon, Y. S., 2006, 'Improvement of Thickness Accuracy in Hot-rolling Mill Using Neural Network and Genetic Algorithm,' Transactions of the Korean Society of Machine Tool Engineers, Vol. 15, No. 5, pp. 59-64   과학기술학회마을
12 Cho, J. R., Yang, S. C. and Jung, Y. G., 2006, 'A Study on the Improvement of Performance for High Speed Cutting Tool using Magnetic Fluid Polishing Technique,' Transactions of the Korean Society of Machine Tool Engineers, Vol. 15, No. 1, pp. 32-38   과학기술학회마을