Applications of robotics in laser welding

M.W. de Graaf, Ronald G.K.M. Aarts

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

1 Citation (Scopus)


This chapter describes how seam-tracking sensors can be integrated in a robotic laser welding system for automatic teaching of the seam trajectory as well as for correcting small errors from a pre-defined seam trajectory. Calibration procedures are required to derive accurate transformations of laser and sensor tool frames relative to each other or relative to the robot flange. A tool calibration procedure is described that involves movements of the tool above a special calibration object. The accuracy of this procedure is influenced by errors in the robot movement. Therefore, another calibration procedure is developed, which is a direct measurement of the sensor tool frame relative to the laser tool frame. A trajectory-based control approach is presented for real-time seam tracking, where a seam-tracking sensor measures ahead of the laser focal point. In this control approach, sensor measurements are related to the robot position to build a geometric seam trajectory, which is followed by the laser focal point
Original languageEnglish
Title of host publicationHandbook of laser welding technologies
EditorsSeiji Katayama
Place of PublicationCambridge, UK
PublisherWoodhead Publishing Ltd
ISBN (Print)978-0-85709-264-9
Publication statusPublished - 2013

Publication series

NameWoodhead Publishing Series in Electronic and Optical Materials
PublisherWoodhead Publishing Ltd.


  • METIS-296939
  • IR-87802


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