Robotic Seam Tracking
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چکیده
The principles of contact and non-contact sensors for robotic seam tracking arc revicwcd. Non-contacting scnsors arc bascd on either an clectromagnctic or an acoustic principle. Electroinagnctic sensors in thc low frcqucncy rcgime induce eddy currents which can bc uscd for the dctcction of surface discontinuitics. In the high frequency regimc (visual spectrum), laser light stripe systems in connection with vision cameras can be succcsshlly used for scam location. Othcr optical systems and infrared thermography arc bricfl y described. Altcmativcly, acoustic systcms using time of flight measurements can bc applicd to thc charactcriz.ation of seams. Finally, lhrough Ihe arc systems and their limitations for seam tracking are outlined. The need for off-line programming techniques for pathplanning with seam tracking devices is emphasized.
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