An integrated system for intelligent seam tracking in robotic welding. Conceptual and analytical development
N. Nayak, Asok Kumar Ray · 2002
The concept, theory, and the issues that are pertinent to the design and implementation of an adaptive real-time, intelligent seam tracker (ARTIST) are discussed. ARTIST is designed to operate in the unstructured environment of 3-D seams without preprogramming. A salient feature of the ARTIST design is that the tracking errors in any cycle do not affect the system performance during subsequent cycles. The conceptual and analytical development of a two-tier hierarchical control scheme for ARTIST is presented. The high-level controller models and interacts with the global seam environment while the low-level controller positions the torch over the seam with the correct orientation.>