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A Speed Adaptive Path Planning Method based on Line Structured Light Information for Robotic Multi-layer/Multi-pass Welding

Regarding the geometrical errors existed in the welding grooves for the large steel structures, the traditional path planning method for robotic multi-layer/multi-pass welding cannot guarantee welding quality. In this paper, a speed adaptive path planning method based on line structured light information for robotic multi-layer/multi-pass welding is proposed. Firstly, the initial welding path is planned according to the average section dimensions of grooves, which are obtained by measured data using line structured light based on the proposed section extraction algorithm. Then, considering the geometrical errors represented by the different section dimensions, the welding speed is adaptively planned to make the molten pool fit the actual dimensions of the welding pass. Simultaneously, the welding path is compensated by the relationship between the welding speed and its corresponding dimensions of molten pool. Finally, the speed adaptive multi-layer/multi-pass welding with box-style steel structures have been experimentally investigated. The proposed planning method can be implemented to improve the welding quality of the grooves in the large steel structures.