Abstract
In order to estimate the penetration of weld, two methods to monitor the natural frequency of the molten pool oscillation using arc sensor and to observe the pool using visual sensor are proposed and investigated. However, these methods have disadvantages respectively. Accordingly, a new method combining these two methods are proposed. In this study, an advanced penetration control method using information of molten pool oscillation and its shape are developed, and the validity of the control system is verified. The molten pool oscillation is detected by monitoring arc voltage. The shape of molten pool is detected by vision sensor. From the information acquired by two sensors, the molten pool condition is analyzed and a penetration control system is developed. And the validity of the system is verified.
