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An integrated system for intelligent seam tracking in robotic welding. Conceptual and analytical development

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2 Author(s)
Nayak, N. ; IBM, Austin, TX, USA ; Ray, Asok

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

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990

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