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. 2009 Sep 23;9(9):7550–7565. doi: 10.3390/s90907550

Table 1.

Automatic robot welding procedure.

Procedure: automatic robot welding
  • [Step1] Top view alignment (Coarse alignment)-From the top view image of the lug, obtain the rough lug frame with the lookup table (LUT) about the lug shape, and align the camera frame with the obtained lug frame as follows:
    1. Obtain the top view image of the lug.
    2. Extract the feature points of the projected laser lines on the lug.
    3. Compute the lug frame with the obtained feature points and the LUT.
    4. Align the camera frame {C} with the lug frame {L}.
    5. Move the robot close to the left side of the lug.
  • [Step 2] Side view alignment (Fine alignment)-From the side view image of the lug, obtain the exact welding line, and then estimate the initial welding position of the lug as follows:
    1. Obtain the side view image of the lug.
    2. Extract the feature points of the projected laser lines on the lug.
    3. Compute the welding line equation from the obtained feature points.
    4. Estimate the initial welding position of the lug with the welding line equation.
    5. Move the robot to the initial welding position for automatic welding.

  • [Step 3] Automatic robot welding-Control the robot to weld the lug according to the predefined welding path.