Virtual triangulation sensor development, behavior simulation and CAR integration applied to robotic arc-welding

Research output: Contribution to journalArticle


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.


  • Per Cederberg
  • Magnus Olsson
  • Gunnar Bolmsjö
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Robotics


  • virtual sensors, arc welding, autonomous, CAR, sensors, simulation, robotics, industrial robotics, simulated sensors
Original languageEnglish
Pages (from-to)365-379
JournalJournal of Intelligent & Robotic Systems
Issue number4
Publication statusPublished - 2002
Publication categoryResearch

Bibliographic note

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)