Tracking Control of Complex Seam in Laser Welding Based on Visual Measurement

Abstract

In order to realize complex seam tracking accurately in the process of laser welding, a system for measuring joint seam was constructed by means of vision sensor. The system gives the method of measuring and calculating the center line, width, and normal vector. It also gives the transformation between measurement coordinate system to the camera coordinate system and the plan of the torch path. Tracking experiment of complex seam was done and shows that this tracking control system of complex seam in laser welding based on visual measurement is able to meet the requirements about tracking control of 3-D laser welding.