Development of intelligent robot systems based on sensor control

Mikael Fridenfalk

Research output: ThesisDoctoral Thesis (compilation)


Sensor based control systems increase flexibility and autonomy in robotics. One of the most common applications in robotics is welding, which is often limited to objects with fine tolerances. To be able to manage objects with relatively large tolerances, such as ship-hulls, sensor guided control systems have to be incorporated that are able to handle large deviations from the drawings. To be able to handle the complexity at the development of such intelligent autonomous systems, a new development environment for robot systems was designed in this work, called FUSE, that integrates software prototyping with virtual prototyping. By the application of FUSE and the methodology developed in this thesis, a seam tracking system for robotic arc welding based on arc sensing was developed and physically validated on-site at a shipyard in the European ROWER-2 project. The aim of the ROWER-2 project was to develop a robot system for welding of hull-sections of large structures such as oil tankers and cruisers. In addition, a true 6D seam tracking system was designed and validated in FUSE that allows seam tracking of seams following 3D spline curves by the real-time correction of both the position and the direction of the torch. Previous systems based on arc sensing only allow seam tracking in 2D or 3D. Similar 6D seam tracking system was also developed and validated based on laser scanning. Since kinematics singularities may disturb the sensor guided control process in robotics, a new method was also suggested that among others eliminates position errors near and on inner singularity points, based on knowledge of the kinematics and dynamics constraints of the robot system and its surrounding environment.
Original languageEnglish
Awarding Institution
  • Department of Electrical and Information Technology
  • [unknown], [unknown], Supervisor, External person
Award date2003 Apr 11
ISBN (Print)91-628-5550-6
Publication statusPublished - 2003

Bibliographical note

Defence details

Date: 2003-04-11
Time: 10:15
Place: Mechanical Engineering Department, M:E, M-building, Lund Institute of Technology

External reviewer(s)

Name: Berbyuk, Viktor
Title: Prof
Affiliation: Chalmers University of Technology, Sweden


Article: I) M. Fridenfalk, M. Olsson, and G. Bolmsjö. Simulation based design of a robotic welding system. In Proceedings of the Scandinavian Symposium on Robotics 99, pages 271-280, Oulu, Finland, October 14-15 1999.

Article: II) M. Fridenfalk, U. Lorentzon, and G. Bolmsjö. Virtual prototyping and experience of modular robotics design based on user involvement. In the Proceedings of the 5th European Conference for the Advancement of Assistive Technology, Düsseldorf, Germany, Nov. 1999.

Article: III) M. Fridenfalk and G. Bolmsjö. The Unified Simulation Environment - Envision telerobotics and Matlab merged in one application. In Proceedings of the Nordic Matlab Conference, pages 177-181, Oslo, Norway, October 2001.

Article: IV) M. Fridenfalk and G. Bolmsjö. Design and validation of a sensor guided robot control system for welding in shipbuilding. International Journal for the Joining of Materials, 14(3/4):44-55, December 2002.

Article: V) M. Fridenfalk and G. Bolmsjö. Design and validation of a universal 6D seam tracking robot control system based on laser scanning. Submitted to the Journal of Industrial Robot, January 2003.

Article: VI) M. Fridenfalk and G. Bolmsjö. Design and validation of a universal 6D seam tracking robot control system based on arc sensing. Submitted to the Journal of Advanced Robotics, January 2003.

Article: VII) M. Fridenfalk. Eliminating position errors caused by kinematics singularities in robotic wrists for use in intelligent control and telerobotics applications. Patent application SE0203180-5, October 2002.

Article: VIII) M. Fridenfalk and G. Bolmsjö. Intelligent system eliminating trajectory programming and geometrical databases in robotic welding. Patent application SE0203239-9, November 2002.

The information about affiliations in this record was updated in December 2015.
The record was previously connected to the following departments: Robotics (ceased) (LUR000026)

Subject classification (UKÄ)

  • Robotics


  • Envision
  • kinematics singularities.
  • Automation
  • robotics
  • control engineering
  • Automatiska system
  • robotteknik
  • reglerteknik
  • Igrip
  • Matlab
  • 6D
  • 3D
  • laser scanning
  • arc sensing
  • seam tracking
  • robotic welding
  • Asimov
  • ROWER-2
  • FUSE
  • virtual prototyping
  • rapid prototyping
  • software development
  • simulation
  • virtual sensor
  • Robot
  • sensor control


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