CONCEPTUAL DEVELOPMENT OF AN ADAPTIVE REAL-TIME SEAM TRACKER FOR WELDING AUTOMATION.

The concept of a real-time seam tracking system for welding automation and the initial design for building a prototype are presented. The ARTIST (Adaptive Real-Time Intelligent Seam Tracker) uses a robot-held, laser based vision system for automation of arc welding processes. The design of ARTIST builds on the concept of a zero-pass technique where 3-D information of the seam geometry is collected and processed for real-time guidance and control of the welding torch trailing behind the laser-based vision sensor. This zero-pass concept eliminates the need for preprogramming of the weld path and thus potentially enhances the welding cycle time for small batches. ARTIST is designed to support multipass arc welding and to handle any tack welds which are encountered during the seam welding operation.