抄録
Autonomous mobile welding robot system with a vision sensor was developed. Algorithm for recognition of welding line and automatic seam-tracking was constructed. By automatic seam-tracking experiments, availability and effectiveness of the constructed system were investigated. The constructed system can recognize welding line with a vision sensor robustly and track welding line with enough precision and speed as basic performance of welding robot. Consequently, it was confirmed that the system has enough availability and effectiveness to automatic welding.
