Stud welding system using an industrial robot for membrane walls

In this paper, we presented a robotic stud welding system based on a light section sensor for a membrane wall. We adopted a real-time method based on a light section sensor to measure the poses of the pipes. The poses are fed back to the welding system in real time to calculate the offsets of the pipes. The offsets are compensated by the system. The practicability of this system is verified through application in the actual production of a membrane wall. Compared with manual welding, the efficiency of the robot welding system was increased by 36.9%.