Multi-Robot Seam Tracking in a Distributed Operating Environment

D. Crymble and J.P. Huissoon (Canada)


robotics, real-time systems, multirobot systems, intelligent control, welding


Real-time seam tracking for welding operations is described as implemented in a distributed operating environment for complex robotic systems. The architecture of the designed environment is described, in the context of its data-centric nature and real-time performance. Dynamic seam tracking is described as a technique that provides real-time control of the torch pose with respect to the workpiece, as well as the pose of a 6 dof-part holder. This is demonstrated by meeting the criteria of a constant weld pool angle and stationary tool robot.

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