{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,29]],"date-time":"2026-07-29T05:54:26Z","timestamp":1785304466395,"version":"3.55.0"},"reference-count":22,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2018,1,15]],"date-time":"2018-01-15T00:00:00Z","timestamp":1515974400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,1,15]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this study is to design a robotic inline measurement system for spot welding quality control to achieve process requirement without any operator during the manufacturing flow.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A robot manipulator carries a stereo-camera and an ultrasonic control probe. The center position of the spot welding point is determined by evaluating the results of the edge, gradient and symmetry approaches from the methods proposed up to now in the literature to increase reliability. The center position of the spot welding point, determined in the camera reference plane, is transferred to the robot base plane coordinates with the hand\u2013eye calibration proposed in this manuscript. Weld quality is checked by the ultrasonic test probe located at the spot welding point.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>While operators can only control welding quality, the developed station can also evaluate the quality based on geometric accuracy by processing the deviation of the position of the spot welding points. The proposed calibration method and the results of other methods in the literature are presented in this study by comparing it with synthetic data in simulations and in practical application.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>The quality control is performed not only  for the spot welding made with robots but also for the manual welds as well. Because of vision configuration, and reliability issues, maximum allowable offset by the correct spot position is limited to 20 mm to position the manipulator for testing. The installation and pretest works of the developed robotic welding quality control station are completed in the Body Shop Area of Ford Otosan factory in Kocaeli\/Turkey. The results of the robotic control process are monitored by the quality assurance team. Integration of automation with the production line will be completed and an inline measurement will be done.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality value<\/jats:title>\n<jats:p>In this paper, a new hand\u2013eye calibration method based on simple and closed-form analytical solutions has been presented. The objective function is defined as reducing the deviation in the point projection, rather than reducing the error in the calibration equation. To increase reliability, combining the results of existing centering algorithms for the detection of the strongly deformed spot welding spot center, although it is normally in a circular form, has been suggested.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-06-2017-0117","type":"journal-article","created":{"date-parts":[[2017,12,13]],"date-time":"2017-12-13T08:50:09Z","timestamp":1513155009000},"page":"54-63","source":"Crossref","is-referenced-by-count":12,"title":["In-line stereo-camera assisted robotic spot welding quality control system"],"prefix":"10.1108","volume":"45","author":[{"given":"Cengiz","family":"Deniz","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mustafa","family":"Cakir","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","reference":[{"key":"key2020093023325854000_ref001","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1016\/j.sna.2014.07.014","article-title":"ToF cameras for active vision in robotics","volume":"218","year":"2014","journal-title":"Sensors and Actuators A: Physical"},{"issue":"5","key":"key2020093023325854000_ref002","doi-asserted-by":"crossref","first-page":"421","DOI":"10.1108\/01439911011063236","article-title":"The role of robotics in non-destructive testing","volume":"37","year":"2010","journal-title":"Industrial Robot: An International Journal"},{"key":"key2020093023325854000_ref003","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1007\/s10846-005-2966-6","article-title":"Acquisition of weld seam dimensional position information for arc welding robot based on vision computing","volume":"43","year":"2005","journal-title":"Journal of Intelligent and Robotic Systems"},{"issue":"1","key":"key2020093023325854000_ref005","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1108\/01439911011009975","article-title":"The autonomous detection and guiding of start welding position for arc welding robot","volume":"37","year":"2010","journal-title":"Industrial Robot: An International Journal"},{"issue":"4","key":"key2020093023325854000_ref004","doi-asserted-by":"crossref","first-page":"349","DOI":"10.1108\/01439911211227917","article-title":"Model analysis and experimental technique on computing accuracy of seam spatial information based on stereo vision for welding robot","volume":"39","year":"2012","journal-title":"Industrial Robot: An International Journal"},{"issue":"3","key":"key2020093023325854000_ref006","doi-asserted-by":"crossref","first-page":"286","DOI":"10.1108\/IR-09-2013-400","article-title":"Teleoperation of ABB industrial robots","volume":"41","year":"2014","journal-title":"Industrial Robot: An International Journal"},{"key":"key2020093023325854000_ref007","doi-asserted-by":"crossref","first-page":"1371","DOI":"10.1007\/s00170-012-4263-4","article-title":"Weld seam tracking and panorama image generation for on-line quality assurance","volume":"65","year":"2013","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"4","key":"key2020093023325854000_ref008","doi-asserted-by":"crossref","first-page":"629","DOI":"10.1364\/JOSAA.4.000629","article-title":"Closed-form solution of absolute orientation using unit quaternion","volume":"4","year":"1987","journal-title":"Journal of the Optical Society of America"},{"key":"key2020093023325854000_ref009","first-page":"1068","article-title":"SRN: Side-output residual network for object symmetry detection in the wild","year":"2017"},{"issue":"6","key":"key2020093023325854000_ref010","doi-asserted-by":"crossref","first-page":"585","DOI":"10.1108\/01439910910994650","article-title":"Intelligent methodology for sensing, modeling, and control of weld penetration in robotic welding system","volume":"36","year":"2009","journal-title":"Industrial Robot: An International Journal"},{"key":"key2020093023325854000_ref011","unstructured":"Lazarevic, Z. 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