Seam Tracking of Articulated Robot for Laser Welding Based on Visual Feedback Control

Laser welding has a quite high demand on trajectory accuracy of articulated robot. To improve dynamic trajectory accuracy of articulated robots for laser welding, a novel 3D seam tracking method is proposed based on stereo visual feedback control. The method constructs a visual feedback control system with two convergent cameras mounted at the end of industrial robot. A tool coordinate system is constructed to transfer the end-link displacement of robot to that of the tool. A proposed GPI transform method, binocular vision technologies and a modified algorithm of line-line matching are utilized to calculate the positions of laser focus and weld seam, which makes the dynamic trajectory error between laser focus and weld seam can be calculated. The robot is finally commanded to move and decrease the trajectory error as soon as possible based on robot kinematics. Experimental results show that the method can effectively improve the trajectory accuracy of industrial robot for laser welding.