Perimetric sensor for the detection and following of complex seam trajectories in robotic laser welding

摘要: Laser welding is a process that has high positioning accuracy demands. Such processes are usually performed with velocities of up to 250mm/sec. When robots used manipulate the laser equipment at such velocities, robot dynamics can significantly influence accuracy. The addition sensors assist in correcting errors. Nevertheless, use imposes additional restrictions on way allowed move over seam trajectory. For several cases force into errors due dynamics. Thus by fixing one problem another created.It therefore desirable for detect and follow without forcing manipulating dynamic sensor presented this paper.Laser paper.