A method of initial welding position guiding for arc welding robot based on visual servo control

In order to solve the visual guiding task of initial welding position for arc welding robot, this paper presents a practice prone image based visual servo control strategy without calibration, and we perform validating experiments on a nine DOF arc welding robot system. Experimental results illustrate presented method has the function to fulfill the task of welding robot initial positioning with certain anti jamming ability. This method provides a basis for guiding welding gun to initial welding pose with real typical seam’s image properties to replace flag block properties, and is a significant exploit to realize visual guiding of initial welding position and seam tracing in robot welding system.

Self-learning fuzzy neural network control for backside width of weld pool in pulsed GTAW with wire filler

The weld pool shape control by intelligent strategy was studied. In order to improve the ability of self-learning and self-adaptation of the ordinary fuzzy control, a self-learning fuzzy neural network controller (FNNC) for backside width of weld pool in pulsed gas tungsten arc welding (GTAW) with wire filler was designed. In FNNC, the fuzzy system was expressed by an equivalence neural network, the membership functions and inference rulers were decided through the learning of the neural network. Then, the FNNC control arithmetic was analyzed, simulating experiment was done, and the validating experiments on varied heat sink workpiece and varied gap workpiece were implemented. The maximum error between the real value and the given one was 0.39mm, the mean error was 0.014mm, and the root-mean-square was 0.14mm. The real backside width was maintained around the given value. The results show that the self-learning fuzzy neural network control strategy can achieve a perfect control effect under different set values and conditions, and is suitable for the welding process with the varied structure and coefficients of control model.

Neural Network Modeling and System Simulating for the Dynamic Process of Varied Gap Pulsed GTAW with Wire Filler

As the base of the research work on the weld shape control during pulsed gas tungsten arc welding （GTAW） with wire filler, this paper addressed the modeling of the dynamic welding process. Topside length Lt, maximum width Wt and half-length ratio Rh1 were selected to depict topside weld pool shape, and were measured on-line by vision sensing. A dynamic neural network model was constructed to predict the usually unmeasured backside width and topside height of the weld through topside shape parameters and welding parameters. The inputs of the model were the welding parameters （peak current, pulse duty ratio, welding speed, filler rate）, the joint gap, the topside pool shape parameters （Lt, Wt, and Rh1）, and their history values at two former pulse, a total of 24 numbers. The validating experiment results proved that the artificial neural network （ANN） model had high precision and could be used in process control. At last, with the developed dynamic model, steady and dynamic behavior was analyzed by simulation experiments, which discovered the variation rules of weld pool shape parameters under different welding parameters, and further knew well the characteristic of the welding process.

Neuron self-learning PSD control for backside width of weld pool in pulsed GTAW with wire filler

In this paper, the weld pool shape control by intelligent strategy was studied. A neuron self-learning PSD controller for backside width of weld pool in pulsed GTAW with wire filler was designed. The PSD control arithmetic was analyzed, simulating experiment by MATLAB software was done, and the validating experiments on varied heat sink workpiece and varied gap workpiece were successfully implemented. The study results show that the neuron self-learning PSD control method can attain a perfect control effect under different set values and conditions, and is suitable for the welding process with the varied structure and coefficients of control model.