On the Robust Control of Seam Tracking Applied Observing System of Weld Line Position and Direction in Welding Robot with Visual Sensor.

Abstract

In order to improve the robustness of the visual sensing system of on intelligent welding robot against noise, a new control system is constructed. In this paper, some robust control systems to track a weld line with disappeared portion are proposed. One of them is the sequential linear estimation (SLE) method, in which the weld line positions are estimated on the assumption that the weld line is linear. Another method is the position detecting observer (PDO) method, in which a scanning line is set at a front position of the image and the positions of the weld line are estimated. Furthermore, the direction detecting observer (DDO) method, in which two scanning lines to detect the weld line direction are set at a front position of the image, is proposed. As the result of tracking experiments, the effectiveness of these systems are confirmed.