Real-time seam tracking for robotic laser welding using trajectory-based control

In this paper a real-time seam tracking algorithm is proposed that can cope with the accuracy demands of robotic laser welding. A trajectory-based control architecture is presented, which had to be developed for this seam tracking algorithm. Cartesian locations (position and orientation) are added to the robot trajectory during the robot motion. In this way, sensor information obtained during the robot motion is used to generate the robot trajectory while moving. Experiments have been performed to prove the tracking capabilities of the seam tracking algorithm.