Abstract
An autonomous mobile robot system with a visual sensor for automatic welding was developed. Algorithm for recognition of welding line and automatic seam-tracking was constructed. The robot has a. movable arm of which position is controlled on cylindrical coordinates and two driving wheels which are equipped at both sides of the vehicle body. The CCD camera is equipped on the movable arm and detects welding line from upper side of base materials. The constructed system can recognize welding line with a visual 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.
