Weld Joint Reconstruction and Classification Algorithm for Trajectory Generation in Robotic Welding

Abstract:

Automation of welding with robotic arms has become an inevitable trend in modern manufacturing technologies. This process can be automated by using a "click and go" in which the robot will weld a line where the spot is described or by using an in-line tracking algorithm in which the robot will choose the spot where to weld the line in each layer. This paper presents a simple methodology for the reconstruction of the weld joint and the classification of the joint geometry to serve as a first step to the automatic determination of the robot trajectory. The weld joint has been reconstructed using a laser profilometer placed as a tool on the robot. Spurious data has been removed by signal processing. The joint has been reconstructed three-dimensionally. The classification of the joint profiles was generated using an algorithm based on signal processing and artificial intelligence. This algorithm has been tested for the classification of V-joints (bevel-bevel) and single bevel joints.

• Periodical: Advances in Science and Technology (Volume 132)
• Pages: 120-128
• DOI: https://doi.org/10.4028/p-2m9SQo
• Online since: October 2023
• Authors: David Curiel, Fernando Veiga*, Alfredo Suárez, Pedro Villanueva, Eider Aldalur
• Keywords: GMAW, Part Inspection, Profilometry, Robotic Welding, Symmetry

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