Real-Time Control of Weld Pool Dynamics During Robotic GTAW

Current teaching play-back welding robot is not with real-time function for sensing and control of weld process. This chapter addresses the real-time vision sensing and intelligentized control techniques for robotic arc welding. Intelligentized robotic system includes a computer visual sensing system with image processing algorithms, weld pool penetration controller and seam tracking controller. Using composite filtering technology, a computer visual sensing system is able to capture clear weld pool images during robotic pulsed GTAW. Corresponding image processing algorithm is described to pick-up characteristic parameters of the weld pool in real time. Furthermore, intelligentized models and real time controller of weld pool dynamics during pulsed GTAW process are discussed in the robotic systems. Seam tracking is another key technology for welding robotic system. Image processing algorithms are presented to extract the seam trajectory and the offset of the torch to the seam in the weld pool images with grooves. An application of intelligentized welding robot systems is also described at the end of this chapter.