Robotic Welding, Intelligence and Automation

Z. X. Gan, H. Zhang, J. J. Wang (auth.), Tzyh-Jong Tarn, Shan-Ben Chen, Changjiu Zhou (eds.)9783540733737, 3540733736

Robotic welding systems have been used in different types of manufacturing. They can provide several benefits in welding applications. The most prominent advantages of robotic welding are precision and productivity. Another benefit is that labor costs can be reduced. Robotic welding also reduces risk by moving the human welder/operator away from hazardous fumes and molten metal close to the welding arc. The robotic welding system usually involves measuring and identifying the component to be welded, we- ing it in position, controlling the welding parameters and documenting the produced welds. However, traditional robotic welding systems rely heavily upon human interv- tion. It does not seem that the traditional robotic welding techniques by themselves can cope well with uncertainties in the welding surroundings and conditions, e. g. variation of weld pool dynamics, fluxion, solid, weld torch, and etc. On the other hand, the advent of intelligent techniques provides us with a powerful tool for solving demanding re- world problems with uncertain and unpredictable environments. Therefore, it is intere- ing to gather current trends and to provide a high quality forum for engineers and researchers working in the filed of intelligent techniques for robotic welding systems. This volume brings together a broad range of invited and contributed papers that describe recent progress in this field.

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Table of contents :
Front Matter….Pages I-XII
Behavior-Based Intelligent Robotic Technologies in Industrial Applications….Pages 1-12
Detecting System Modeling and Hand-Eye Calibration for a Robot to Detect the Ablation of Hydro-turbine Blades….Pages 13-20
Dynamic Model and Control for an Omnidirectional Mobile Manipulator….Pages 21-30
Soft Touch Control Strategy of Remote Teaching Based on Force Sensing….Pages 31-39
A Novel Pose Estimation System for Indoor Mobile Robots Based on Two Optical Sensors….Pages 41-49
Haptic Teleoperation of Robotic Manipulator….Pages 51-59
Practical Stabilization of Nonholonomic Mobile Robots Moving on Uneven Surface….Pages 61-70
An Efficient Method for Collision Detection and Distance Queries in a Robotic Bridge Maintenance System….Pages 71-82
Laser Vision System Based on Synchronized Scanning Method….Pages 83-89
An Object Oriented Robot Programming Approach in Robot Served Plastic Injection Molding Application….Pages 91-97
A Wide Angle-of-View Thermal Imaging System Utilizing the Rotation of Optical Path….Pages 99-104
On the Key Technologies of Intelligentized Welding Robot….Pages 105-115
Computer Simulation of Neural Network Control System for CO2 Welding Process….Pages 117-125
Numerical Study of Tube Cathode Arc with Anode Melting….Pages 127-134
Numerical Simulation of Molten Droplet Shape and Electromagnetic Pinch Effect in Short-Circuit CO 2 Welding….Pages 135-144
Planning the Torch Orientation of Planar Lap Joint in Robotic Welding….Pages 145-151
Automatic Path Planning for Welding Robot Based on Reconstructed Surface Model….Pages 153-161
Study on the Control Strategy of Commutation Process in Variable Polarity Plasma Arc Welding….Pages 163-170
Recognition of Macroscopic Seam for Complex Robotic Welding Environment….Pages 171-178
Research on Performance of Welding Fuzzy Petri Net Model….Pages 179-186
Agent-Based Modeling and Control of Remote Robotic Welding System….Pages 187-194
On-Line Estimation of Electrode Face Diameter Based on Servo Gun Driven by Robot in Resistance Spot Welding….Pages 195-202
Numerical Simulation and Control of Robot Welding Deformation of Five-Port Connector….Pages 203-209
3D Reconstruction of Welding Environment Based on Spacetime Stereo….Pages 211-218
Measurement for Three Dimensional Surface of Welding Pool in GTAW Welding….Pages 219-225
Research on the Control Method of Multi-parameter Comprehensive Decision Making for Spot Welding….Pages 227-234
Waveform Control High-Speed Welding System for Arc Welding Robot….Pages 235-242
Multi-agent-Based Control Model of Laser Welding Flexible Manufacturing System….Pages 243-248
Recognition of the Initial Position of Weld Based on the Corner Detection for Welding Robot in Global Environment….Pages 249-255
Integrated Weld Quality Control System Based on Laser Strobe Vision….Pages 257-266
Development of a Visual-Based Welding Pool Width Control System for Al-P-MIG Welding Process….Pages 267-273
Visual Sensing and Image Processing in Aluminum Alloy Welding….Pages 275-280
Seam Tracking of Articulated Robot for Laser Welding Based on Visual Feedback Control….Pages 281-287
Efficient Weld Seam Detection for Robotic Welding from a Single Image….Pages 289-294
Research on the Laser Calibration Method for the Image Plane Center of the Visual Sensor….Pages 295-302
Software System Designs of Real-Time Image Processing of Weld Pool Dynamic Characteristics….Pages 303-309
A Study on Vision-Based Real-Time Seam Tracking in Robotic Arc Welding….Pages 311-318
Image Processing of Seam Tracking System Using Laser Vision….Pages 319-324
Discretiztion in Rough Set Modeling Method for Welding Process….Pages 325-331
A Model-Free Adaptive Control of Pulsed GTAW….Pages 333-339
A Model of Automatic Detection System for Weld Defects Based on Machine Vision….Pages 341-348
A Vision-Based Seam Tracking System for Submerged Arc Welding….Pages 349-357
Automatic Inspection of Weld Defects with X-Ray Real-Time Imaging….Pages 359-366
Portable and Intelligent Stud Welding Inverter for Automotive and Sheet Metal Fabrication….Pages 367-374
Study on the Control System of the Lathing and Welding Compound Machine Tool….Pages 375-382
Study of STL Data Processing on TIG Welding Rapid Manufacture….Pages 383-389
Girth Seam Tracking System Based on Vision for Pipe Welding Robot….Pages 391-399
Study of Off-Line Programming System of Arc Robot Based on the Software of ROBOGUIDE….Pages 401-408
Distributed Simultaneous Task Allocation and Motion Coordination of Autonomous Vehicles Using a Parallel Computing Cluster….Pages 409-420
A New Support Vector Machine-Based Fuzzy System with High Comprehensibility….Pages 421-427
Vision-Based Dynamic Tracking of Motion Trajectories of Human Fingertips….Pages 429-435
The Investigation of Control System and Security for a New Medical Robot….Pages 437-444
The Extraction of Fuzzy Rules and Control for Deposit Dimension in Spray Forming Process….Pages 445-451
Multi-modal Virtual Reality Dental Training System with Integrated Haptic-Visual-Audio Display….Pages 453-462
Application of a Robot Assisted Tele-neurosurgery System….Pages 463-470
Design and Implement of Neural Network Based Fractional-Order Controller….Pages 471-479
An Algorithm for Surface Growing from Laser Scan Generated Point Clouds….Pages 481-491
Study on the Size Effect and the Effect of the Friction Coefficient on the Micro-extrusion Process….Pages 493-499
A New Wafer Prealigner….Pages 501-508
The Energy Optimization Design of the Safety Door’s Control System in the Urban Light Rail Transit Line….Pages 509-516
Manipulator Trajectory Planning Using Geodesic Method….Pages 517-528
Anti-phase Synchronization Control Scheme of Passive Biped Robot….Pages 529-539
EDA-Based Optimization and Learning Methods for Biped Gait Generation….Pages 541-549
Robust Adaptive Fuzzy Control of Marine Craft….Pages 551-560
Back Matter….Pages 561-564