This study presents a seam tracking algorithm to achieve the accurate positioning of a weld torch with uniform travel speed along the two-dimensional weld path and discusses its use in two-axes welding manipulator table system. Preview type tactile sensor has been used as a seam-finder in this study. The distance between the seam-finding sensor and the weld torch introduces the fundmental geometric problem : the velocity difference between the weld torch and seam-finding sensor, which generates uneven-spaced seam information.
In this study, the information from the seam-finding sensor is converted into the evenly spaced seam tracking command of desired torch position at each sampling time by regeneration algorithm. RVC (Reference Voltage Command) system is developed based on this algorithm which is proposed to attain smaller path error and to control the velocity uniform during the tracking opration.
From the series of experiments, it is found that practically applicable seam tracking and regulation of velocity can be obtained by controlling the torch motion using the proposed method.
