An Uncalibrated Robotic Weld Tracking System

Jiangtao Yin; Tao Zhang; Yisheng Guan; Guanfeng Liu

doi:10.1109/ROBIO.2018.8665282

An Uncalibrated Robotic Weld Tracking System

Jiangtao Yin^*
, Tao Zhang
, Yisheng Guan
, Guanfeng Liu

^*Corresponding author for this work

Guangdong University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

To adapt to the operational conditions with a large workpiece scale and changeable working locations in the field of ship welding, a novel uncalibrated robotic weld seam tracking system is proposed in this paper. Unlike a traditional seam tracking system requiring calibration and extraction of the weld seam feature, we directly utilize the luminance of all pixels in the weld seam image as a visual feature, without a robot hand-eye calibration, image processing, or any learning steps. The experiment results prove that our system is suitable for application to not only for a lap weld seam, but also for different types of weld seams without any changes to the algorithm, except for the corresponding desired image of the weld seams.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	408-413
Number of pages	6
ISBN (Electronic)	9781728103761
DOIs	https://doi.org/10.1109/ROBIO.2018.8665282
State	Published - 2 Jul 2018
Externally published	Yes
Event	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia Duration: 12 Dec 2018 → 15 Dec 2018

Publication series

Name	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/Territory	Malaysia
City	Kuala Lumpur
Period	12/12/18 → 15/12/18

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10.1109/ROBIO.2018.8665282

Cite this

Yin, J., Zhang, T., Guan, Y., & Liu, G. (2018). An Uncalibrated Robotic Weld Tracking System. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 408-413). Article 8665282 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8665282

@inproceedings{865dea6b05ec4b71a55b45f0fee0b86b,

title = "An Uncalibrated Robotic Weld Tracking System",

abstract = "To adapt to the operational conditions with a large workpiece scale and changeable working locations in the field of ship welding, a novel uncalibrated robotic weld seam tracking system is proposed in this paper. Unlike a traditional seam tracking system requiring calibration and extraction of the weld seam feature, we directly utilize the luminance of all pixels in the weld seam image as a visual feature, without a robot hand-eye calibration, image processing, or any learning steps. The experiment results prove that our system is suitable for application to not only for a lap weld seam, but also for different types of weld seams without any changes to the algorithm, except for the corresponding desired image of the weld seams.",

author = "Jiangtao Yin and Tao Zhang and Yisheng Guan and Guanfeng Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 ; Conference date: 12-12-2018 Through 15-12-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/ROBIO.2018.8665282",

language = "英语",

series = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "408--413",

booktitle = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

address = "美国",

}

Yin, J, Zhang, T, Guan, Y & Liu, G 2018, An Uncalibrated Robotic Weld Tracking System. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8665282, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 408-413, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8665282

An Uncalibrated Robotic Weld Tracking System. / Yin, Jiangtao; Zhang, Tao; Guan, Yisheng et al.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 408-413 8665282 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - To adapt to the operational conditions with a large workpiece scale and changeable working locations in the field of ship welding, a novel uncalibrated robotic weld seam tracking system is proposed in this paper. Unlike a traditional seam tracking system requiring calibration and extraction of the weld seam feature, we directly utilize the luminance of all pixels in the weld seam image as a visual feature, without a robot hand-eye calibration, image processing, or any learning steps. The experiment results prove that our system is suitable for application to not only for a lap weld seam, but also for different types of weld seams without any changes to the algorithm, except for the corresponding desired image of the weld seams.

AB - To adapt to the operational conditions with a large workpiece scale and changeable working locations in the field of ship welding, a novel uncalibrated robotic weld seam tracking system is proposed in this paper. Unlike a traditional seam tracking system requiring calibration and extraction of the weld seam feature, we directly utilize the luminance of all pixels in the weld seam image as a visual feature, without a robot hand-eye calibration, image processing, or any learning steps. The experiment results prove that our system is suitable for application to not only for a lap weld seam, but also for different types of weld seams without any changes to the algorithm, except for the corresponding desired image of the weld seams.

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ER -

An Uncalibrated Robotic Weld Tracking System

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