{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T03:10:42Z","timestamp":1781233842865,"version":"3.54.1"},"reference-count":27,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2023,2,14]],"date-time":"2023-02-14T00:00:00Z","timestamp":1676332800000},"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":[[2023,8,9]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This study aims to enable robotic friction stir welding (FSW) in practice. The use of robots has hitherto been limited, because of the large contact forces necessary for FSW. These forces are detrimental for the position accuracy of the robot. In this context, it is not sufficient to rely on the robot\u2019s internal sensors for positioning. This paper describes and evaluates a new method for overcoming this issue.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A closed-loop robot control system for seam-tracking control and force control, running and recording data in real-time operation, was developed. The complete system was experimentally verified. External position measurements were obtained from a laser seam tracker and deviations from the seam were compensated for, using feedback of the measurements to a position controller.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The proposed system was shown to be working well in overcoming position error. The system is flexible and reconfigurable for batch and short production runs. The welds were free of defects and had beneficial mechanical properties.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>In the experiments, the laser seam tracker was used both for control feedback and for performance evaluation. For evaluation, it would be better to use yet another external sensor for position measurements, providing ground truth.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>These results imply that robotic FSW is practically realizable, with the accuracy requirements fulfilled.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The method proposed in this research yields very accurate seam tracking as compared to previous research. This accuracy, in turn, is crucial for the quality of the resulting material.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-06-2022-0153","type":"journal-article","created":{"date-parts":[[2023,2,10]],"date-time":"2023-02-10T08:58:00Z","timestamp":1676019480000},"page":"722-730","source":"Crossref","is-referenced-by-count":9,"title":["Robotic friction stir welding \u2013 seam-tracking control, force control and process supervision"],"prefix":"10.1108","volume":"50","author":[{"given":"Martin","family":"Karlsson","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fredrik","family":"Bagge Carlson","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Martin","family":"Holmstrand","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Anders","family":"Robertsson","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jeroen","family":"De Backer","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Luisa","family":"Quintino","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Eurico","family":"Assuncao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rolf","family":"Johansson","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2023,2,14]]},"reference":[{"key":"key2023080809531151100_ref001","unstructured":"ABB Robotics (2016), \u201cABB IRC5\u201d, Accessed: 2022-04-25. ABB Robotics, available at: http:\/\/new.abb.com\/products\/robotics\/controllers\/irc5 (accessed 25 April 2022)."},{"issue":"4","key":"key2023080809531151100_ref002","doi-asserted-by":"crossref","first-page":"365","DOI":"10.1108\/IR-01-2014-0301","article-title":"Deflection model for robotic friction stir welding","volume":"41","year":"2014","journal-title":"Industrial Robot: An International Journal"},{"key":"key2023080809531151100_ref007","unstructured":"Blomdell, A. (2016), \u201cLabcomm \u2013 tools and software\u201d, Accessed: 2020-07-22. Dept. Automatic Control, Lund University, available at: https:\/\/gitlab.control.lth.se\/anders_blomdell\/labcomm (accessed 22 July 2020)."},{"key":"key2023080809531151100_ref006","first-page":"62","article-title":"Flexible application development and high-performance motion control based on external sensing and reconfiguration of ABB industrial robot controllers","volume-title":"Proc. 2010 IEEE Int. Conf. Robotics and Automation (ICRA2010)","year":"2010"},{"issue":"3","key":"key2023080809531151100_ref005","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1109\/MRA.2005.1511872","article-title":"Extending an industrial robot controller \u2013 implementation and applications of a fast open sensor interface","volume":"12","year":"2005","journal-title":"IEEE Robotics and Automation Magazine"},{"key":"key2023080809531151100_ref003","unstructured":"Carlson, F.B. (2019), \u201cMachine learning and system identification for estimation in physical systems\u201d, Doc. No. TFRT-1122. PhD thesis. Lund, Sweden, Lund University, Dept. Automatic Control."},{"key":"key2023080809531151100_ref008","first-page":"3628","volume-title":"Proc. 2015 IEEE\/RSJ Int. Conf. Intelligent Robots and Systems (IROS2015)","year":"2015"},{"key":"key2023080809531151100_ref004","first-page":"3728","article-title":"Particle filter framework for 6D seam tracking under large external forces using 2D laser sensors","year":"2016"},{"issue":"1","key":"key2023080809531151100_ref009","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1108\/01439910410512000","article-title":"Robotic friction stir welding","volume":"31","year":"2004","journal-title":"Industrial Robot: An International Journal"},{"key":"key2023080809531151100_ref010","volume-title":"Introduction to Robotics: Mechanics and Control","year":"1989","edition":"2nd ed"},{"key":"key2023080809531151100_ref011","article-title":"Friction stir welding with robot for light vehicle design","volume-title":"8th International Friction Stir Welding Symposium, Timmendor- Fer Strand, Germany 18-20 May 2010","year":"2010"},{"issue":"5","key":"key2023080809531151100_ref012","first-page":"1737","article-title":"Robot welding seam online grinding system based on laser vision guidance","volume":"116","year":"2021","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"1","key":"key2023080809531151100_ref013","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1016\/j.jmapro.2013.04.002","article-title":"Friction stir welding: process, automation, and controlIn","volume":"16","year":"2014","journal-title":"Journal of Manufacturing Processes"},{"key":"key2023080809531151100_ref014","unstructured":"Google Inc (2016), Accessed: 2022-04-26, available at: https:\/\/code.google.com\/p\/protobuf\/"},{"key":"key2023080809531151100_ref015","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1016\/j.rcim.2015.11.001","article-title":"Impact and improvement of tool deviation in friction stir welding: weld quality and real-time compensation on an industrial robot","volume":"39","year":"2016","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2023080809531151100_ref016","first-page":"1933","article-title":"Force control","volume-title":"Handbook of Manufacturing Engineering and Technology","year":"2014"},{"issue":"1\/3","key":"key2023080809531151100_ref017","first-page":"521","article-title":"Investigation of laser remote welding using disc laser","volume":"201","year":"2008","journal-title":"Journal of Materials Processing Technology"},{"key":"key2023080809531151100_ref018","first-page":"843","article-title":"Robot joint modeling and parameter identification using the clamping method","volume-title":"IFAC Conf. Manufacturing Modelling, Management and Control (MIM2013)","year":"2013"},{"key":"key2023080809531151100_ref019","article-title":"Trajectory generation in robotic shielded metal arc welding during execution time","year":"2009","journal-title":"Industrial Robot: An International Journal"},{"issue":"3","key":"key2023080809531151100_ref020","doi-asserted-by":"crossref","first-page":"642","DOI":"10.1007\/s11661-007-9459-0","article-title":"Friction stir processing technology: a review","volume":"39","year":"2008","journal-title":"Metallurgical and Materials Transactions A"},{"key":"key2023080809531151100_ref021","article-title":"Robotic friction stir welding aided by hybrid force\/motion control","volume-title":"Proc. 2014 IEEE Emerging Technology and Factory Automation (ETFA) Emerging Technology and Factory Automation (ETFA)","year":"2014"},{"key":"key2023080809531151100_ref022","unstructured":"Meta Vision Systems (2016), \u201cMeta vision systems\u201d, www.meta-mvs.com\/ (accessed April 25 2022)."},{"key":"key2023080809531151100_ref023","doi-asserted-by":"crossref","first-page":"373","DOI":"10.1016\/j.jmapro.2018.10.016","article-title":"A review on sensor based monitoring and control of friction stir welding process and a roadmap to industry 4.0","volume":"36","year":"2018","journal-title":"Journal of Manufacturing Processes"},{"issue":"4","key":"key2023080809531151100_ref024","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1016\/S0921-8890(99)00056-1","article-title":"Integrated architecture for industrial robot programming and control","volume":"29","year":"1999","journal-title":"J. Robotics and Autonomous Systems"},{"issue":"1","key":"key2023080809531151100_ref025","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1016\/j.cirp.2008.03.120","article-title":"A programming system for robot-based remote-laser-welding with conventional optics","volume":"57","year":"2008","journal-title":"CIRP annals"},{"key":"key2023080809531151100_ref026","first-page":"172","article-title":"Friction stir welding: review","year":"2014","journal-title":"Int. J. Enhanced Research in Science Technology and Engineering"},{"issue":"460","key":"key2023080809531151100_ref027","first-page":"317","article-title":"Improvements relating to friction stir welding","volume":"5","year":"1991","journal-title":"US Patent No"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-06-2022-0153\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-06-2022-0153\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:23Z","timestamp":1753393163000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/50\/5\/722-730\/175006"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,14]]},"references-count":27,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2023,2,14]]},"published-print":{"date-parts":[[2023,8,9]]}},"alternative-id":["10.1108\/IR-06-2022-0153"],"URL":"https:\/\/doi.org\/10.1108\/ir-06-2022-0153","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,2,14]]}}}