{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:42:23Z","timestamp":1777714943311,"version":"3.51.4"},"reference-count":35,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1990,10,1]],"date-time":"1990-10-01T00:00:00Z","timestamp":654739200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1990,10]]},"abstract":"<jats:p>Conventional, nonadaptive, robot welding systems can only be used when the workpieces are highly repeatable and well fixtured. An approach for vision-aided adaptive robotic weld ing and an implementation of a flexible, sensory-controlled robotic welding system are presented in this paper. Structured lighting, in the form of a steerable cone of laser light, and machine vision are used for sensing of the weld joint location and determining the detailed three-dimensional weld joint surface geometry ahead of the welding torch. This sensory feedback is used for the off-line detection of large fixturing errors before welding starts (part finding); the real-time cor rection of robot paths to compensate for thermal distortion and loose part tolerances during single- and multipass weld ing (seam tracking); and the in-process adjustment of weld ing conditions to correct for weld joint shape variations (adaptive welding). A general approach for modeling and calibration of the novel cone-of-light structured lighting sensor is presented. Robust vision-processing schemes for the detec tion and recognition of laser stripe features in noisy images are developed and implemented using a pipelined processing architecture. Three-dimensional (3D) offsets from the taught path are computed in real time along the actual path, and a 3D surface model is developed and used to determine user- defined joint cross-sectional features and dimensions during welding. Approaches are proposed and implemented for incorporating the visually determined offsets in robot path planning and control and for controlling the welding process parameters on the basis of the monitored cross-sectional dimensions.<\/jats:p>","DOI":"10.1177\/027836499000900502","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"17-34","source":"Crossref","is-referenced-by-count":48,"title":["Vision-Aided Robotic Welding: An Approach and a Flexible Implementation"],"prefix":"10.1177","volume":"9","author":[{"given":"John E.","family":"Agapakis","sequence":"first","affiliation":[{"name":"Automatix, Inc. Billerica, Massachusetts 01821"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joel M.","family":"Katz","sequence":"additional","affiliation":[{"name":"Automatix, Inc. Billerica, Massachusetts 01821"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joshua M.","family":"Friedman","sequence":"additional","affiliation":[{"name":"Automatix, Inc. Billerica, Massachusetts 01821"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Geoffrey N.","family":"Epstein","sequence":"additional","affiliation":[{"name":"Automatix, Inc. Billerica, Massachusetts 01821"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1990,10,1]]},"reference":[{"key":"atypb1","volume-title":"Vision-aided remote robotic welding","author":"Agapakis, J.E.","year":"1985"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900501"},{"key":"atypb3","volume-title":"Proc. 2nd Int. 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Metals Park, Ohio: American Society for Metals."},{"key":"atypb17","unstructured":"David, S., ed. 1981. Proc. Conf. on Trends in Welding Research in the US. Metals Park, Ohio : American Society for Metals."},{"key":"atypb18","volume-title":"Proc. Robots 10","author":"Franklin, J.W."},{"issue":"2","key":"atypb19","first-page":"123","volume":"11","author":"Inoue, K.","year":"1982","journal-title":"Trans. JWRI"},{"issue":"1","key":"atypb20","first-page":"13","volume":"10","author":"Inoue, K.","year":"1981","journal-title":"Trans. of JWRI"},{"key":"atypb21","volume-title":"Proc. Int. Conf. on Automation and Robotization of Welding and Allied Processes, Annual Assembly of the International Institute of Welding","author":"Inoue, K."},{"key":"atypb22","volume-title":"The Physics of Welding","author":"International Institute of Welding.","year":"1984"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(83)90049-3"},{"key":"atypb24","volume-title":"Proc. 13th Int. Symposium on Industrial Robots","author":"Kremers, J."},{"key":"atypb25","unstructured":"Libby, C. 1982 (March). An approach to vision controlled arc welding . In Proc. Conference on CAD\/CAM Technology in Mechanical Engineering . Cambridge, Mass.: MIT, pp. 180-185."},{"key":"atypb26","volume-title":"Proc. 3rd Int. Conf. on Robot Vision and Sensory Controls","author":"Morgan, C.G."},{"key":"atypb27","volume-title":"Machine intelligence research applied to industrial automation","author":"Nitzan, D.","year":"1983"},{"key":"atypb28","volume-title":"Proc. 3rd Int. Conf. on Robot Vision and Sensory Controls","author":"Oomen, G.L."},{"key":"atypb29","volume-title":"Robot manipulators, mathematics programming and control","author":"Paul, R.P.","year":"1981"},{"key":"atypb30","volume-title":"The kinematics of manipulators under computer control","author":"Pieper, D.L.","year":"1968"},{"issue":"3","key":"atypb31","first-page":"43","volume":"63","author":"Richardson, R.W.","year":"1984","journal-title":"Welding J."},{"key":"atypb32","volume-title":"Proc. 2nd Int. Computers in Welding Fabrication Conf","author":"Saylor, J.M."},{"key":"atypb33","volume-title":"Proc. 3rd Int. Conf. on Robot Vision and Sensory Controls","author":"Sthen, T."},{"key":"atypb34","volume-title":"Proc. of Int. Conf","author":"The Welding Institute."},{"key":"atypb35","unstructured":"Wittels, N., and Libby, C. 1987. Vision-aided arc welding applications. In J. D. Lane (ed.): Robotic Welding . Kempston, UK: IFS Publications , pp. 330-341."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499000900502","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499000900502","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:13:22Z","timestamp":1777457602000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499000900502"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,10]]},"references-count":35,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1990,10]]}},"alternative-id":["10.1177\/027836499000900502"],"URL":"https:\/\/doi.org\/10.1177\/027836499000900502","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,10]]}}}