Abstract
An autonomous mobile welding robot system with arc sensor and vision sensor was developed. Especially, control system of automatic seam-tracking, welding current and arc length in real time were constructed. For the seam-tracking system, Hough transform was applied to detect welding line. And welding speed on straight line was changed. So this system can not only detect welding line stably, but also speed up welding process. Neural network for penetration control was constructed. Input parameters including geometric parameters of molten pool were detected from image acquired by vision sensor. In order to keep constant arc length, arc length control system using Fuzzy reasoning was constructed. This autonomous mobile welding robot system was applied to the butt-welding of 1.6mm SPCC mild steel plates.
