Abstract
A new robust control system of a welding robot equipped with a visual sensor to detect weld line is proposed. By the new method called continuous multivector connecting (CMVC) method, the precision of seam tracking and the robustness of the system against noise in images are markedly improved. Moreover, a new method to set scanning lines in the image, which is called successive scanning line setting method, is proposed in order to make the scanning line used to detect the weld line shorter and to save on the computer calculation time. As the result of seam-tracking experiments, the effectiveness of the proposed system was confirmed.
