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Seam tracking for laser welding with an industrial robot

Because of their construction and flexibility, industrial robots are suitable 
to be used, with a laser source and an optical fiber, for laser welding 
of 3D products. However, the positioning accuracy of robots are insufficient 
for laser welding. Also the product and clamping tolerances are 
too wide for laser welding. These problems can be solved by applying 
sensors, which measure the location of the seam in real-time. 
This paper describes the integration and performance of a commercial 
seam tracking sensor with an industrial 6DOF robot