Real-time seam tracking for robotic laser welding

摘要: Laser welding puts high demands on the robot or manipulator used, as it requires a tracking accuracy (down to 0.1 mm) at velocities (up 250 mm/s). Sensors measuring position of laser focal point relative seam be welded are therefore required make robotic successful in production environment. To use sensor information for real-time seam-tracking special control architecture called trajectory based has been developed. It uses generator cubic interpolation, where Cartesian locations (position and orientation) can added on-the-fly during motion. This way obtained motion is used generate real-time.