523 自律移動型溶接ロボットによる自動溶接線追従および溶接制御

概要

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An autonomous mobile welding robot system with arc sensor and vision sensor was developed. Especially, control system of automatic seam-tracking, welding current and arc length in real time were constructed. For the seam-tracking system, Hough transform was applied to detect welding line. And welding speed on straight line was changed. So this system can not only detect welding line stably, but also speed up welding process. Neural network for penetration control was constructed. Input parameters including geometric parameters of molten pool were detected from image acquired by vision sensor. In order to keep constant arc length, arc length control system using Fuzzy reasoning was constructed. This autonomous mobile welding robot system was applied to the butt-welding of 1.6mm SPCC mild steel plates.
社団法人日本機械学会の論文
2003-10-17