Applications of robotics in laser welding
M. De Graaf, Cargotec ACT/University of Twente, The Netherlands
R. Aarts, University of Twente, The Netherlands
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. ...