Research on Adaptive Arc Tracking for Welding, Phase 2

摘要

The program objective was to establish a fundamental basis for obtaining position information from electric welding arc signals. The ultimate goal has been to utilize the position information obtained from the welding arcs for corrective, real-time, feedback positioning control of robotic and special purpose welders. The research has established that: (1) with both the nonconsumable and consumable electrode processes, arc signals can be used to measure the torch-to-workpiece spacing to better than plus/minus 0.25 mm; and (2) by scanning the arc back and forth across the weld joint, the joint geometrical profile may be mapped with equivalent accuracy. Knowledge of the weld joint geometry relative to the robot end effector permits altering the path of the manipulator arm in order to maintain a desired torch-to-work spacing and torch centering over the joint, and potentially permits process control as well.