• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.52-55
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• 1997

This paper discusses an automatic visual-servoing system, in which a laser and a CCD camera are used for imaging the pattern of joint groove. The algorithm used here is simple and robust to find out the gap width and gap center. As a consequence, the speed of algorithm is very fast and optimized. A feature of this system is that it processes only by summing the vertical line and horizontal line of screen without any image preprocessing in order to get the energy information of lines alternatively. It is practical and useful for the system requiring a fast process time of vision.

• Proceedings of the KWS Conference
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• 2000.10a
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• pp.34-36
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• 2000

It is difficult to realize automation of welding of lattice type in shipbuilding and assembly processing of shipbuilding and steel structures. Usually, the welding parts of lattice type are welded manually. So there are limitations in continuous and stable quality controls and in increase in productivity because the welding quality depends on worker's skill. That is, automation in welding is necessary. This paper shows shows the development results of a moblie robot for welding of lattice type. Specially. algorithms for its mobile speed and seam tracking controls are introduced.

• Journal of Welding and Joining
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• v.9 no.3
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• pp.34-40
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• 1991

An automatic welding system was constructed with a personal computer to capture the welding data in addition to vision seam tracking for the gas metal arc welding process. The monitoring of welding signals is composed of the acquisition of welding voltage and current, obtained by using two differential amplifiers and A/D converters, and processing of the measured data. Using interrupt handing circuit for time sharing, two jobs of seam tracking and monitoring were performed at the required sampling time. Relations between welding signals and various welding circumstances were analyzed from the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.56.3-56
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• 2002

For the weld quality improvement and the convenient operation of machines, laser vision system can be used to track weld seams on pressure vessels. There are many bad conditions to the weld grooves such as cutting error, gap variation of weld joint, and offset error of center line caused by misalignment. We developed a laser vision seam tracking system which consists of a laser vision sensor, a two axis positioning mechanism and a user interface program running on the Windows system. It was found that our system worked well for U, V and X shaped grooves. We used an industrial PC as the system controller to secure immunity to electrical noise and dust. We introduce here a simple and...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.584-587
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• 2002

A vision sensor measure range data using laser light source. This sensor generally use patterned laser which shaped single line. But this vision sensor cannot satisfy new trend which needs laster and more precise processing. The sensor's sampling rate increases as reduced image processing time. However, the sampling rate can not over 30fps, because a camera has mechanical sampling limit. If we use multi line laser pattern, we will measure multi range data in one image. In the case of using same sampling rate camera, number of 2D range data profile in one second is directly proportional to laser line's number. For example, the vision sensor using 5 laser lines can sample 150 profiles per second in best condition.

• Proceedings of the KWS Conference
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• 2007.11a
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• pp.67-69
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• 2007

Laser welding technology for automobile body is studied. Laser system, robot and seam tracking system are used for 3D laser welding system. The laser system is used 4kW Nd:YAG laser(HL4006D) of Trumpf and the robot system is used IRB6400R of ABB. The seam tracking system is SMRT-20LS of ServoRobot. The welding joints of steel plate are butt and lap joint. The 3 dimensional laser welding for non-linear pipe welding line is performed.

• Laser Solutions
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• v.12 no.2
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• pp.11-16
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• 2009

A new profile measurement sensor was developed for remote laser welding robots. A stripe laser and a vision camera are used in the profile sensor. A simple sensor guided control scheme using the developed sensor is also introduced. The sensor can be used to guide the welding head in the remote welding application, where the working distance reaches to 450mm. In experiments, the profile measurement and the seam tracking were carried out using the developed sensor.

• Proceedings of the KWS Conference
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• 2005.06a
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• pp.326-328
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• 2005

High speed rotational arc sensing is an important method to detect the torch deviation during automatic seam tracking of arc welding. In this paper, a mathematic model of high speed rotational arc sensing is analyzed. The simulation results are consistent with the experimental results. The current waveforms at the beginning of the welding are different from those at middle of the welding because of the formation of the weld bead profile. The signal patterns for seam tracking and end-point detection are proposed. A phase shift between the rotation and the current variation is also discovered in the experiments.

• Proceedings of the KWS Conference
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• 2005.06a
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• pp.103-105
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• 2005

Laser welding technology for automobile body is studied. laser system, robot and seam tracking system are used for 3D laser welding system The laser system is used 4kW Nd:YAG laser(HL4006D) of Trumpf and the robot system is used IRB6400R of ABB. The seam tracking system is SMRT-20LS of ServoRobot. The welding joints of steel plate are butt and lap joint. The 3-D welding for non-linear tailored blank is performed after experiments of bead on plate. Finally, the welding process for non-linear tailored blank is developed.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.700-705
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• 2001

The paper presents a seam tracking controller of high speed rotating arc sensor developed by microprocessor based system. The seam tracking algorithm is based on the average current value at each interval region of four phase points on one rotating cycle. To remove the noise effect for the measured current, the area during one rotating cycle is separated into four regions of front, rear, left and right. The average values at each region are calculated, using the regional current values and a low pass filter incorporating the moving average and exponential smoothing methods is adopted.