Virtual triangulation sensor development, behavior simulation and CAR integration applied to robotic arc-welding
Research output: Contribution to journal › Article
Background: An increasing number of industrial robots are being programmed using CAR (Computer Aided Robotics). Sensor guidance offers a means of coping with frequent product changes in manufacturing systems. However, sensors increase the uncertainty and to preserve system robustness, a tool is needed that makes it possible to understand a sensor guided robot system before and during its actual operation in real life. Scope: A virtual sensor is developed and integrated in a CAR hosted environment. The real sensor is of a type commonly used in the arc-welding industry and uses a triangulation method for depth measurements. The sensor is validated both statically and dynamically by matching it with a real sensor through measurements in setups and by comparing a welding application performed in a real and a virtual work-cell created with a CAR application. The experimental results successfully validates its performance. In this context, a virtual sensor is a software model of a physical sensor with similar characteristics, using geometrical and/or process specific data from a computerized model of a real work-cell.
|Research areas and keywords||
Subject classification (UKÄ) – MANDATORY
|Journal||Journal of Intelligent & Robotic Systems|
|Publication status||Published - 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), Departments at LTH (011200000)