抄録
A robust profile sensor based on pulsed-laser beam scanning and the triangulation principle is presented. Interference from external light such as welding arc and spatters is eliminated by subtracting a CCD line sensor output in a turned-off period of laser beam projection from a sensor output in the adjacent tunred-on period. Multiple reflection of the laser beam from workpiece surfaces is reduced by using synchronous scanning of the projected beam and the reflected light. These methods realize taking a correct profile of a shiny workpiece and measuring a seam position near a welding torch. Robotic arc welding of a lap joint of 1.6 [mm] -thick-steel (SPCC) plates has been successfully performed using the prototype sensor.
