Robotic Welding, Intelligence and Automation

Preface......Page 5
Contents......Page 7
1 Introduction......Page 13
3 Current Successful Intelligent Robotic Technologies......Page 14
4 Assembly, Guidance and Machining Are the Growth Markets......Page 16
5 Extensive R&D Efforts Needed to Ensure Market Success......Page 22
6 Conclusions......Page 23
1 Introduction......Page 25
2 Inner Detecting System for the Ablation of Hydro-turbine Blades......Page 26
3 The Mathematical Model of the Detecting System......Page 27
4 Experiments and Results......Page 30
5 Conclusion......Page 31
1 Introduction......Page 33
2 Kinematic Model......Page 34
3 Dynamic Model......Page 36
4 Trajectory Tracking Control......Page 38
5 Simulation......Page 39
6 Conclusion......Page 41
1 Introduction......Page 43
2 The Analysis of the Touch Force in Remote Teaching......Page 44
3 Subsection Control Strategy of the Touch Force in RTP......Page 45
4 The Task Self-adapting HSIC Algorithm of Touch Force......Page 46
5 The Experiment Results Analysis of the Touch Force in RTP......Page 49
6 Conclusion......Page 50
1 Introduction......Page 52
2 Method for Pose Estimation......Page 53
3 System Calibration......Page 56
4 Simulations......Page 58
5 Conclusion......Page 59
1 Introduction......Page 61
F......Page 62
5 Experimental Results......Page 65
6 Conclusions......Page 68
1 Introduction......Page 70
2 Modeling and Problem Formulation......Page 71
3 Controller Design......Page 72
4 Simulations and Discussions......Page 76
5 Conclusions......Page 78
1 Introduction......Page 80
2 Related Works......Page 81
3 The Efficient Spherical Approach......Page 82
4 Simulation Results......Page 86
5 Conclusions......Page 89
1 Introduction......Page 92
2 Geometrical Analyses......Page 93
4 Experiments......Page 95
5 Conclusions......Page 97
1 Introduction......Page 99
2 Domain Analysis and Object Oriented Modeling of Plastic Injection Molding......Page 100
3 Implementation......Page 103
5 Conclusions and Future Work......Page 104
1 Introduction......Page 106
2 System Configurations......Page 107
3 Experiment Descriptions......Page 109
4 Conclusions......Page 110
1 Introduction......Page 112
3 Key Technologies of Intelligentized Welding Robot Systems......Page 113
4 The Intelligent Structure of Intelligentized Welding Robot Systems......Page 119
5 Conclusions......Page 120
2 Data Acquisition and Experimental System......Page 123
3 Token Index of the Welding Spatter Ratio......Page 124
4 Control Models and Simulations......Page 125
5 Conclusions......Page 130
1 Introduction......Page 132
2 Simulation Model......Page 133
3 Results and Discussion......Page 135
4 Conclusions......Page 138
1 Introduction......Page 140
2 Factors Affecting Droplet Formation and Metal Transfer......Page 141
3 Effects of Electromagnetic Force on Droplet Shape......Page 142
4 Effect of Electromagnetic Force on Liquid Bridge......Page 145
5 Experimental Verification......Page 146
6 Conclusions......Page 148
2 System Description......Page 150
4 Planning of Welding Torch Orientation......Page 151
5 Experimental Results......Page 155
6 Conclusions......Page 156
1 Introduction......Page 157
2 Adaptive Fitting Algorithm of B-Spline Surface......Page 158
3 Automatic Path Planning......Page 160
4 Experimental Results......Page 161
5 Conclusion......Page 164
2 Phenomenon of Resonance Current in Commutation......Page 166
3 Commutation Circuit Model and Simulation......Page 168
4 Commutation Strategy and Application......Page 170
5 Conclusions......Page 172
1 Introduction......Page 174
2 Vision System and Character Analysis of Robotic Welding Environment......Page 175
3 Recognition of Seam......Page 176
4 Laboratory Experiments......Page 179
5 Conclusions......Page 180
1 Introduction......Page 182
2 Fuzzy Petri Net Model......Page 183
3 Analysis of Fuzzy Petri Net Model......Page 184
4 Simulation Experiment......Page 187
5 Conclustion......Page 188
1 Introduction......Page 190
2 System Architecture......Page 191
3 Process of Remote Robotic Welding......Page 192
4 Multi-agent System Modeling of RRWS......Page 193
5 Conclusion......Page 197
1 Introduction......Page 198
2 Calibration of Axial Wear Measured by Servo Gun......Page 199
3 Model of Electrode Face Diameter Estimation Online......Page 201
4 Model Verifying......Page 202
5 Conclusions......Page 205
1 Introduction......Page 206
2 Model of the Flange Weld......Page 207
3 Simulation Result of the Welding Process......Page 208
4 Conclusions......Page 211
1 Introduction......Page 213
2 Related Works of 3D Sensing of the Welding Environment......Page 214
3 The Principle of Spacetime Stereo......Page 215
4 Structured Light Pattern Design......Page 216
5 Experiment and Result......Page 217
6 Conclusion......Page 219
1 Introduction......Page 221
2 Three-Dimension Measurement Technique......Page 222
3 Shape from Shading......Page 223
4 Conclusion......Page 226
1 Introduction......Page 228
2 The Measurement and Control System of Multi-parameter Comprehensive Decision Making for Spot Welding......Page 229
3 Control Algorithm of Multi-parameter Comprehensive Decision Making......Page 231
4 Experimental Results......Page 233
5 Conclusions......Page 234
1 Introduction......Page 236
2 Current Waveform Control Method......Page 237
3 Design of System Hardware......Page 238
4 Design of Control Software......Page 239
5 Experiments......Page 240
6 Conclusions......Page 242
1 Introduction......Page 244
2 The Laser Welding Flexible Manufacturing System......Page 245
3 The Hybrid Framework of the LWMFS Based on MAS......Page 246
4 The Simulation......Page 247
5 Conclusions......Page 249
2 Experiment Setup and Process......Page 250
3 Image Process......Page 251
4 The Process of the Recognition of the Initial Position in the Global Environment......Page 252
1 Introduction......Page 257
2 Weld Pool Imaging Using Laser Strobe Vision......Page 258
3 Neurofuzzy Logic System for Weld Quality Control......Page 260
4 Results and Discussion......Page 263
5 Conclusions......Page 265
2 Construction of Experimental System......Page 267
3 System Identification......Page 268
4 Simulation Results......Page 269
5 Fuzzy-ES Control System......Page 270
6 Welding Experiments......Page 271
7 Conclusion......Page 272
1 Introduction......Page 274
2 Image Processing......Page 275
3 Curve Fitting......Page 278
5 Conclusion......Page 279
1 Introduction......Page 280
2 3D Reconstruction of Laser Focus and Trajectory Lines......Page 281
3 Displacements Calculation......Page 283
4 Experiments and Analysis......Page 284
5 Conclusions......Page 285
1 Introduction......Page 287
2 Algorithm of Welding Seam Detection from an Image......Page 288
3 Experimental Results and Discussion......Page 290
4 Conclusion......Page 291
2 Calibration Principle......Page 293
3 Experiment Results and Analysis......Page 295
4 Validation of the Laser Calibration Method......Page 297
5 Conclusions......Page 299
1 Introduction......Page 301
2 The Architecture of Welding Pool Image Processing Software......Page 302
3 Algorithm Validations......Page 304
4 Conclusions......Page 306
2 The Principle of the Seam Tracking Technology......Page 308
3 Image Process and Analysis......Page 310
4 Tracking Process......Page 311
5 Experiment Results......Page 313
6 Conclusion and Discussion......Page 314
2 Laser Seam Image Pre-processing Algorithm and Experiment Results......Page 316
3 Image Post-processing Algorithm and Experiment Results......Page 319
4 Conclusion......Page 320
2 Rough Set Modeling Method......Page 322
3 Discretization......Page 324
4 Conclusion......Page 327
1 Introduction......Page 329
2 GTAW Process Modeling......Page 330
3 Simulation of GTAW Process......Page 333
4 Conclusion......Page 335
1 Introduction......Page 336
2 Some Theoretical Foundations......Page 337
3 The Proposed Model......Page 338
5 Conclusions......Page 342
1 Introduction......Page 344
2 Structure and Principle of Seam Tracking System......Page 345
3 Experiments and Result......Page 350
4 Conclusions......Page 351
1 Introduction......Page 353
2 Basic Principals......Page 354
3 Automatic Real-Time Defects Inspection......Page 356
4 Conclusions......Page 359
1 Introduction......Page 361
2 Inverter for Manual Sheet Metal Stud Welding......Page 362
3 Sheet Metal Studs......Page 364
4 Sheet Metal Applications of the Inverter......Page 366
6 Conclusion......Page 368
2 Control System Design......Page 369
3 Hardware Constructions......Page 370
4 Software Constructions......Page 372
5 Measurement......Page 374
6 Conclusions......Page 375
2 Data Processing on STL Model......Page 377
3 Analysis, Slicing and Size Compensation......Page 378
4 Conclusions......Page 382
1 Introduction......Page 384
2 Vision Measure System for Seam Tracking......Page 385
3 Image Processing and Features Extraction......Page 387
4 Seam Tracking Control SYSTEM......Page 388
5 Experimental Results......Page 390
6 Conclusions......Page 391
1 Introduction......Page 393
3 Model Building and Attitude Planning in ROBOGUIDE......Page 399
4 Conclusion......Page 400
1 Introduction......Page 401
2 Problem Formulation......Page 402
3 Integration of MPITB in the MATLAB Environment......Page 407
5 Results and Discussion......Page 409
6 Conclusion......Page 411
2 Preliminaries of Fuzzy Basis Function Inference System and SVM for Regression......Page 413
3 SVM-Based Fuzzy System......Page 414
4 Analysis of SVM-FS Compared with Other Fuzzy Systems......Page 417
5 Conclusion......Page 419
1 Introduction......Page 420
2 Targets to Be Tracked......Page 421
3 Experiment......Page 424
4 Conclusion......Page 426
1 Introduction......Page 427
2 Architecture of the Control System......Page 428
3 Safety Schemes Performed in the System......Page 430
5 Summary and Future Work......Page 433
2 Fuzzy Rules Recognition of Deposit Dimension......Page 435
3 Design of Fuzzy Controller (FC )......Page 438
5 FC Closed-Loop Control Experiment for Deposit Dimension......Page 439
6 Conclusions......Page 440
1 Introduction......Page 442
2 System Architecture......Page 443
3 Hybrid Model of Audio Signal......Page 445
4 Rendering of Multi-modal Signal......Page 447
5 Experiment......Page 449
6 Conclusion......Page 450
2 System Structure and Surgery Flow......Page 452
3 Surgical Plan......Page 453
4 Registration Base on Vision......Page 455
5 Robot Design......Page 457
6 Clinical Experiment......Page 458
7 Conclusion......Page 459
1 Introduction......Page 460
2 Fractional-Order Control Systems......Page 461
3 The Design of Fractional-Order......Page 462
4 Algorithm of Parameter Self-tuning Based on Neural Network......Page 463
5 Illustrative Examples......Page 465
6 Conclusion......Page 467
1 Introduction......Page 469
2 Related Works......Page 470
3 Sandblasting Environment and Scan Acquisition......Page 471
4 The Surface Growing Algorithm......Page 472
5 Results and Discussion......Page 474
6 Conclusions......Page 478
2 Uniaxial Tension Experiments and Size Effects......Page 480
3 The FEM Model of the Micro-extrusion......Page 482
4 Results and Discussion......Page 483
5 Conclusions......Page 485
1 Introduction......Page 487
2 The Architecture of the Prealigner......Page 488
3 The Prealigning Algorithm......Page 490
4 Experiments and Result Analysis......Page 493
5 Conclusion......Page 494
1 Introduction......Page 495
2 Model Establishment of the Controllable Curve of the Instantaneous Linear Velocity for the Safety Door......Page 496
3 e Solution and Simulation of the Problem Based on SQP......Page 500
4 Conclusion......Page 501
1 Introduction......Page 503
2 Concept of Geodestic......Page 504
3 Optimal Trajectory Planning of Spatial 3R Manipulator......Page 506
4 Optimal Trajectory Planning of Planar 3R Manipulator......Page 510
5 Optimal Trajectory Planning of 3-PSS Parallel Manipulator......Page 511
6 Concluding Remarks......Page 513
1 Introduction......Page 515
2 Model of Compass Gait Biped......Page 516
3 Concept of Anti-phase Synchronization......Page 519
4 Simulation and Discussion......Page 523
5 Conclusions and Future Work......Page 525
1 Introduction......Page 526
2 Biped Robot and Gait......Page 527
3 EDA Based Algorithms for Biped Gait Generation......Page 530
4 Simulation Results and Discussions......Page 531
5 Conclusion......Page 533
1 Introduction......Page 535
2 Challenges in Marine Craft Control......Page 536
3 Intelligent Control of Marine Craft......Page 537
4 Conclusions......Page 543
Author Index......Page 545