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Real-Time Robot Trajectory Correction through Computer Vision: a Welding Application in the Automotive Industry

Published: 28 June 2024 Publication History

Abstract

To ensure the optimal performance of welding robots in industrial applications, the elements to be welded must be accurately positioned. Additionally, elements that do not meet the quality standards can negatively influence the welding process. In this sense, failures may result in incorrect welding, leading to various structural issues within the assembly, where manual rework may be necessary to correct the errors. This work consists of developing an embedded image processing system to collect the appropriate coordinates where welds should be made on the structure of a car backrest, to adapt the trajectory of a welding robot, improving the quality and reducing the need for reworking the parts. To accomplish this application, an image acquisition system was developed. The image was processed so that it could be sent to the robot controller, which modifies the coordinates of certain movement points to correct the welding trajectory by applying an offset along the required points. To assess the effectiveness of the system, 160 weld points were tested, and 159 were found to be within the required margin of error, with only one point exhibiting a variation of 0.07 mm greater than the average in one direction. Another test performed was considering three wrong positioning of the pieces, the intention was to verify if the system could absorb these errors, thus proving the project’s operation.

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    ICRSA '23: Proceedings of the 2023 6th International Conference on Robot Systems and Applications
    September 2023
    335 pages
    ISBN:9798400708039
    DOI:10.1145/3655532
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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    Published: 28 June 2024

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    Author Tags

    1. Adaptive Trajectory
    2. Communication Protocols
    3. Computer vision
    4. Industrial Welding
    5. Robotics

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