An automatic control on the GHTA (Gas Hollow Tungsten Arc) welding has been required to weld with safety and accuracy in the space. And a technique that uses a relationship between gradation value of infrared rays from entire state in the welding including an arc and a molten pool (hereinafter referred to as “average brightness value”) and a bead width was suggested for the automatic control on the GHTA welding. In this study, a welding speed control using the infrared images in the GHTA welding was carried out to maintain the bead width constant. The welding speed was proportional controlled, and a CCD camera was used to film the welding sate. As a result, the bead width was kept constant by the automatic control of the welding speed.
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