A system is described which is based on a unique weld image sensor design which integrates the optical system into the weld end effector to produce the so-called "coaxial view" of the weld zone. The resulting weld image is processed by a flexible, table driven vision processing system which can be adapted to detect a variety of features and feature relationships. Provision is made for interactive "teaching" of image features for generation of table parameters from test welds. A table driven control program allows various vision control strategies to be invoked. The main result of the system is a level of emulation of the capability of the expert welder or welding operator, essential to successful precision welding robotization.
Richard W. Richardson,
"Flexible Vision Control System For Precision Robotic Arc Welding", Proc. SPIE 1008, Expert Robots for Industrial Use, (9 February 1989); doi: 10.1117/12.949122; https://doi.org/10.1117/12.949122