Research Of Initial Welding Position Locating And Laser-stripe Sensor Seam Tracking Based On Wheel-pedrail Robot

Welding robot's coming into being has been a revolutionary progress in weldingautomatization, it has broken through the tradition way of rigid automation ofwelding and developed a kind of flexible automation mode. This paper has done afurther research to robot automation welding by wheel-pedrail robot.In order to realize intellectualized robot welding absolutely, the robot has to seekand move into the target location by itself, then tracking the seam. It has been animportant part to implement the robot moving to the target. In this paper, robot haslocated the welding position by visual sensor and active identifier, Moved to thetarget with path planing which was designed yet. it was a feasible scheme proved byexperiment.Usually, laser sensor has been set in front of welding torch for tracking weldingline by laser sensor. Thus the feedback from the laser sensor is not the positionalinformation between welding torch and welding line. So it is needed to find aappropriate control method for deviation compensate. To compute the real-timedeviation between welding torch and welding seam, this paper has tried the way thatstore feed-forward and compensate controlled variable, which implement laser-stripesensor for bended seam tracking.