The Development of an Image-Guided Mobile Robot for SMAW Process

Abstract

The conventional shield metal arc welding (SMAW) process is performed by manual operation and is difficult to be performed at hazard working environments. To automate the SMAW process, we install two CCD cameras, a five-axis robot and the SMAW equipment on a mobile vehicle. The binocular images captured from parallel cameras are used to locale the crack’s positions and guide the mobile vehicle and welding robot. Since the electrode consumes during the SMAW process, the robot joints’ trajectories are on-line modified to keep the electrode’s end tracking the desired welding path. Experimental results show that this system performs better quality SMAW operations with smaller welding current variation compared to senior technicians.