Development of closed-loop control of robotic welding processes
Purpose - The purpose of this research is to develop closed-loop control of robotic welding processes.Design methodology approach - The approach being developed is the creation of three-dimensional models of the weld pool using stereo imagining. These models will be used in a model-based feedback co...
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Veröffentlicht in: | Industrial robot 2005-08, Vol.32 (4), p.350-355 |
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description | Purpose - The purpose of this research is to develop closed-loop control of robotic welding processes.Design methodology approach - The approach being developed is the creation of three-dimensional models of the weld pool using stereo imagining. These models will be used in a model-based feedback control system. Fusion of more than one sensor type in the controller is used.Findings - Three-dimensional images can be produced from stereo images of GMAW-p weld pools. This requires coordinating the image capture with the arc pulse to allow observation of the pool.Research limitations implications - This is a work in progress. The imaging is not being done in real time at this point in time. Future work will address this issue. Also, how the image information is to be used to make corrections within the controller is future work.Practical implications - Closing the loop on GMAW welding will allow robotic automation of welding to proceed to a much broader degree of application.Originality value - This paper demonstrates that stereo imaging of out-of-position GMAW-p weld pools is possible and the useful information can be obtained from these images. It also provides insights into the analysis required within the model-based controller if one is to close the loop on the process specifically with regard to weld pool stability. |
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These models will be used in a model-based feedback control system. Fusion of more than one sensor type in the controller is used.Findings - Three-dimensional images can be produced from stereo images of GMAW-p weld pools. This requires coordinating the image capture with the arc pulse to allow observation of the pool.Research limitations implications - This is a work in progress. The imaging is not being done in real time at this point in time. Future work will address this issue. Also, how the image information is to be used to make corrections within the controller is future work.Practical implications - Closing the loop on GMAW welding will allow robotic automation of welding to proceed to a much broader degree of application.Originality value - This paper demonstrates that stereo imaging of out-of-position GMAW-p weld pools is possible and the useful information can be obtained from these images. It also provides insights into the analysis required within the model-based controller if one is to close the loop on the process specifically with regard to weld pool stability.</description><identifier>ISSN: 0143-991X</identifier><identifier>EISSN: 1758-5791</identifier><identifier>DOI: 10.1108/01439910510600236</identifier><identifier>CODEN: IDRBAT</identifier><language>eng</language><publisher>Bradford: Emerald Group Publishing Limited</publisher><subject>Applied sciences ; Automation ; Computer science; control theory; systems ; Control systems ; Control theory. Systems ; Controllers ; Exact sciences and technology ; Manufacturing ; Real time ; Robotics ; Robots ; Sensors ; Software ; Studies ; Welding</subject><ispartof>Industrial robot, 2005-08, Vol.32 (4), p.350-355</ispartof><rights>Emerald Group Publishing Limited</rights><rights>2005 INIST-CNRS</rights><rights>Copyright MCB UP Limited (MCB) 2005</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c442t-fd7ddeeaaa58d7d83acb57bed7c1733908cb454562b95e3e3b7afed22591914c3</citedby><cites>FETCH-LOGICAL-c442t-fd7ddeeaaa58d7d83acb57bed7c1733908cb454562b95e3e3b7afed22591914c3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://www.emerald.com/insight/content/doi/10.1108/01439910510600236/full/pdf$$EPDF$$P50$$Gemerald$$H</linktopdf><linktohtml>$$Uhttps://www.emerald.com/insight/content/doi/10.1108/01439910510600236/full/html$$EHTML$$P50$$Gemerald$$H</linktohtml><link.rule.ids>314,776,780,961,11614,27901,27902,52661,52664</link.rule.ids><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=16924278$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><contributor>Nobertro Pires, J.</contributor><creatorcontrib>Steele, John P.H.</creatorcontrib><creatorcontrib>Mnich, Chris</creatorcontrib><creatorcontrib>Debrunner, Chris</creatorcontrib><creatorcontrib>Vincent, Tyrone</creatorcontrib><creatorcontrib>Liu, Stephen</creatorcontrib><title>Development of closed-loop control of robotic welding processes</title><title>Industrial robot</title><description>Purpose - The purpose of this research is to develop closed-loop control of robotic welding processes.Design methodology approach - The approach being developed is the creation of three-dimensional models of the weld pool using stereo imagining. These models will be used in a model-based feedback control system. Fusion of more than one sensor type in the controller is used.Findings - Three-dimensional images can be produced from stereo images of GMAW-p weld pools. This requires coordinating the image capture with the arc pulse to allow observation of the pool.Research limitations implications - This is a work in progress. The imaging is not being done in real time at this point in time. Future work will address this issue. Also, how the image information is to be used to make corrections within the controller is future work.Practical implications - Closing the loop on GMAW welding will allow robotic automation of welding to proceed to a much broader degree of application.Originality value - This paper demonstrates that stereo imaging of out-of-position GMAW-p weld pools is possible and the useful information can be obtained from these images. It also provides insights into the analysis required within the model-based controller if one is to close the loop on the process specifically with regard to weld pool stability.</description><subject>Applied sciences</subject><subject>Automation</subject><subject>Computer science; control theory; systems</subject><subject>Control systems</subject><subject>Control theory. Systems</subject><subject>Controllers</subject><subject>Exact sciences and technology</subject><subject>Manufacturing</subject><subject>Real time</subject><subject>Robotics</subject><subject>Robots</subject><subject>Sensors</subject><subject>Software</subject><subject>Studies</subject><subject>Welding</subject><issn>0143-991X</issn><issn>1758-5791</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2005</creationdate><recordtype>article</recordtype><sourceid>BENPR</sourceid><sourceid>GUQSH</sourceid><sourceid>M2O</sourceid><recordid>eNqN0G9LxCAcB3CJgq6rF9CzEdSjVup0zkcR11846ElBz4bT32KHm0t3Re8-xx0FXUGPFP34Vb8IHRJ8RgguzjFhmZQEc4JzjGmWb6EJEbxIuZBkG03G_TSC5120F8ICY8xzkk_QxRW8gXV9C92QuDrR1gUwqXWuT7TrBu_suOxd5YZGJ-9gTdO9JL13GkKAsI92amUDHKzHKXq6uX6c3aXzh9v72eU81YzRIa2NMAZAKcWLOC0ypSsuKjBCE5FlEhe6YpzxnFaSQwZZJVQNhlIuiSRMZ1N0ssqNN78uIQxl2wQN1qoO3DKUtGASM5r_A9IiNsQjPPoBF27pu_iJkhIRO4wwIrJC2rsQPNRl75tW-Y-S4HIsvtwoPp45XgeroJWtvep0E74P5pIyKsbs05WDFryy5ktsRJa9qSPHv_O_X_IJOIGdiw</recordid><startdate>20050801</startdate><enddate>20050801</enddate><creator>Steele, John P.H.</creator><creator>Mnich, Chris</creator><creator>Debrunner, Chris</creator><creator>Vincent, Tyrone</creator><creator>Liu, Stephen</creator><general>Emerald Group Publishing Limited</general><general>Emerald</general><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>0U~</scope><scope>1-H</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7WY</scope><scope>7WZ</scope><scope>7XB</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BEZIV</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>F28</scope><scope>FR3</scope><scope>F~G</scope><scope>GNUQQ</scope><scope>GUQSH</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K6~</scope><scope>K7-</scope><scope>L.-</scope><scope>L.0</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0C</scope><scope>M0N</scope><scope>M2O</scope><scope>M2P</scope><scope>M7S</scope><scope>MBDVC</scope><scope>P5Z</scope><scope>P62</scope><scope>PQBIZ</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PTHSS</scope><scope>Q9U</scope><scope>8BQ</scope><scope>JG9</scope></search><sort><creationdate>20050801</creationdate><title>Development of closed-loop control of robotic welding processes</title><author>Steele, John P.H. ; Mnich, Chris ; Debrunner, Chris ; Vincent, Tyrone ; Liu, Stephen</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c442t-fd7ddeeaaa58d7d83acb57bed7c1733908cb454562b95e3e3b7afed22591914c3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Applied sciences</topic><topic>Automation</topic><topic>Computer science; control theory; systems</topic><topic>Control systems</topic><topic>Control theory. Systems</topic><topic>Controllers</topic><topic>Exact sciences and technology</topic><topic>Manufacturing</topic><topic>Real time</topic><topic>Robotics</topic><topic>Robots</topic><topic>Sensors</topic><topic>Software</topic><topic>Studies</topic><topic>Welding</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Steele, John P.H.</creatorcontrib><creatorcontrib>Mnich, Chris</creatorcontrib><creatorcontrib>Debrunner, Chris</creatorcontrib><creatorcontrib>Vincent, Tyrone</creatorcontrib><creatorcontrib>Liu, Stephen</creatorcontrib><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Global News & ABI/Inform Professional</collection><collection>Trade PRO</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>ABI/INFORM Collection</collection><collection>ABI/INFORM Global (PDF only)</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Business Premium Collection</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ABI/INFORM Global (Corporate)</collection><collection>ProQuest Central Student</collection><collection>Research Library Prep</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Business Collection</collection><collection>Computer Science Database</collection><collection>ABI/INFORM Professional Advanced</collection><collection>ABI/INFORM Professional Standard</collection><collection>ProQuest Engineering Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ABI/INFORM Global</collection><collection>Computing Database</collection><collection>Research Library</collection><collection>Science Database</collection><collection>Engineering Database</collection><collection>Research Library (Corporate)</collection><collection>Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>ProQuest One Business</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>Engineering Collection</collection><collection>ProQuest Central Basic</collection><collection>METADEX</collection><collection>Materials Research Database</collection><jtitle>Industrial robot</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Steele, John P.H.</au><au>Mnich, Chris</au><au>Debrunner, Chris</au><au>Vincent, Tyrone</au><au>Liu, Stephen</au><au>Nobertro Pires, J.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Development of closed-loop control of robotic welding processes</atitle><jtitle>Industrial robot</jtitle><date>2005-08-01</date><risdate>2005</risdate><volume>32</volume><issue>4</issue><spage>350</spage><epage>355</epage><pages>350-355</pages><issn>0143-991X</issn><eissn>1758-5791</eissn><coden>IDRBAT</coden><abstract>Purpose - The purpose of this research is to develop closed-loop control of robotic welding processes.Design methodology approach - The approach being developed is the creation of three-dimensional models of the weld pool using stereo imagining. These models will be used in a model-based feedback control system. Fusion of more than one sensor type in the controller is used.Findings - Three-dimensional images can be produced from stereo images of GMAW-p weld pools. This requires coordinating the image capture with the arc pulse to allow observation of the pool.Research limitations implications - This is a work in progress. The imaging is not being done in real time at this point in time. Future work will address this issue. Also, how the image information is to be used to make corrections within the controller is future work.Practical implications - Closing the loop on GMAW welding will allow robotic automation of welding to proceed to a much broader degree of application.Originality value - This paper demonstrates that stereo imaging of out-of-position GMAW-p weld pools is possible and the useful information can be obtained from these images. It also provides insights into the analysis required within the model-based controller if one is to close the loop on the process specifically with regard to weld pool stability.</abstract><cop>Bradford</cop><pub>Emerald Group Publishing Limited</pub><doi>10.1108/01439910510600236</doi><tpages>6</tpages></addata></record> |
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subjects | Applied sciences Automation Computer science control theory systems Control systems Control theory. Systems Controllers Exact sciences and technology Manufacturing Real time Robotics Robots Sensors Software Studies Welding |
title | Development of closed-loop control of robotic welding processes |
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