• Proceedings of the KSME Conference
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• 2003.04a
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• pp.917-922
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• 2003

In this paper, a high speed rotating arc sensor for automatic fillet welding is introduced. In order to track the welding seam, The high speed rotating arc sensor is used. The welding tip of a high speed rotating arc sensor rotates about 3000 rpm using DC motor. The rotating torch is driven by gear between welding torch body and wire guide. The welding current is measured by using the current sensor and rot at ing position sensor. To realize the welding seam tracking algorithm with accuracy, a software filter algorithm using the moving average method is applied to the measured welding current in the microprocessor. The welding mobile robot with two wheels and two sliders is developed for fillet welding. The welding mobile robot can control its traveling direction and turn itself around the corner. The effectiveness is proven through the experimental results conducted with varied fillet tracking patterns.

• Proceedings of the KWS Conference
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• 1996.05a
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• pp.96-98
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• 1996

Welding of corner area across the edge is a difficult problem in robotized arc welding system, especially when continuously-welded leakage-proof product is required. This paper presents the methodology of cooperation plan of an arc welding robot and 1 or 2 axis welding manipulators for corner area welding. Welding trajectory for the robot is generated using clothoid curves; symmetrical double clothoid curve or unsymmetrical clothoid curve depending on the nature of the workpiece. The clothoid curve is first formulated for the case of linear type positioning table and then applied to the case of rotary type manipulator. The methodology is then illustrated for practical downhand welding situations.

• Proceedings of the Korean Society of Laser Processing Conference
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• 2000.06a
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• pp.39-42
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• 2000

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.10a
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• pp.13-14
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• 2006

• Journal of Welding and Joining
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• v.16 no.3
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• pp.102-110
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• 1998

The horizontal fillet welding is prevalently used in heavy and ship building industries to fabricate the large scale structures. A deep understanding of the horizontal fillet welding process is restricted, because the phenomena occurring in welding are very complex and highly non-linear characteristics. To achieve the satisfactory weld bead geometry in robot welding system, the seam tracking algorithm should be reliable. The number of seam tracker was developed for arc welding automation by now. Among these seam tracker, the arc sensor is prevalently used in industrial robot welding system because of its low cost and flexibility. However, the accuracy of arc sensor would be decreased due to the electrical noise and metal transfer. In this study, the signal processing algorithm based on the neural network was implemented to enhance the reliability of measured welding current signals. Moreover, the seam tracking algorithm in conjunction with the signal processing algorithm was implemented to trace the center of weld line. It was revealed that the neural network could be effectively used to predict the welding current signal at the end of weaving.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.411-414
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• 2004

In this paper, a power controller and 3 phase voltage source inverter are proposed for the improvement of weldability of large scaler Mash seam welder. The welder system is designed for the low cost and the improvement of weldability. For this system, the thyristor convertor has performed constant current controlling in the output terminal by using PAM type inverter. We have simulated our algorithm and made a prototype welder for experiment. Through the experiment, we have confirmed the improvement of weldability of our system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.231-234
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• 2004

Ratio that robot occupies is low level worldwide fairly in suspension wire, electricity electron and neutralization learning industry and domestic industry of this is staring in average love. Can speak that grafting of robotic machine and neutralization learning industry is high in terms of side of creation of the added value or progress of technology rightly hereupon. This research raises or designed multi-function handling robot that can make welding, assembly conveniently catching large size work water

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.270-275
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• 1993

In this paper, the arc welding robot controller using a touch sensor and a arc sensor is presented. The controller is composed of robot controller parts for moving torch, and arc welding controller for welding and tracking. In the controller, an compensated data is generated to control robot trajectory and seam tracking by the arc sensor function. The data is obtained by integration of arc current. Experimental results are presented confirming the controller performance.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1396-1399
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• 1996

With the progress in process automation, it becomes necessary that a robot should have various sophisticated capabilities. A robot programming language is a tool that can give a robot such capabilities without any change in robot architecture. Especially a task level automatic programming system enables a robot able to perform a job intelligently. Therefore anyone who is not an expert on welding or robot programming can easily use it. In this research, basic automatic welding program is combined with workspace information, which makes users do an arc welding job automatically.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.593-596
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• 1996

A seam tracking control system with a tool position control and a camera orientation control, has been developed here. For the camera orientation contro, SOFNN was used to learn the expert control signal. The SOFNN algorithm can adjust the fuzzy set parameters and determine the fuzzy logic structure.