Intelligent Seam Tracking for Robotic Welding
Intelligent Seam Tracking for Robotic Welding is part of the Advances in Industrial Control series, edited by Professor M.J. Grimble and Dr. M.A. Johnson of the Industrial Control Unit, University of Strathclyde. This publication discusses in depth the de
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Other titles already published in this Series: Parallel Processing for Jet Engine Control Haydn A. Thompson Iterative Learning Control for Deterministic Systems Kevin L. Moore Parallel Processing in Digital Control D. Fabian Garcia Nocetti and Peter J. Fleming
Nitin Nayak and Asok Ray
I ntelligent Seam Tracking for Robotic Welding With 75 Figures
Springer-Verlag London Berlin Heidelberg New York Paris Tokyo Hong Kong Barcelona Budapest
Nitin R. Nayak, PhD, MS, BS IBM Corporation, Austin, Texas, USA Asok Ray, PhD, PE Pennsylvania State University, PA 16802, USA
ISBN-13: 978-1-4471-2047-6 DOl: 10.1007/978-1-4471-2045-2
e-ISBN-13: 978-1-4471-2045-2
British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Cataloging-in-Publication Data A catalog record for this book is available from the Library of Congress Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Authority. Enquiries concerning reproduction outside those terms should be sent to the publishers.
© Springer-Verlag London Limited 1993 Softcover reprint of the hardcover 1st edition 1993 The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Typesetting: Camera ready by authors 69/3830-543210 Printed on acid-free paper
To our parents
SERIES EDITORS' FOREWORD
The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology impacts all areas of the control discipline. New theory, new ·controllers, actuators, sensors, new industrial processes, computing methods, new applications, new philosophies, ... , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In the field of robotics, the classic repetitive manufacturing tasks which have been automated by robots are paint spraying and spot/seam welding for the car industry. This monograph reports advances in robotic science for the operation of seam welding. It presents a systematic treatment of the prevailing industrial technology and a new state of the art intelligent robotic seam welding prototype system on which the authors, Dr Nayak and Professor Ray, collaborated. The authors have made a determined effort to set t
