{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T16:38:09Z","timestamp":1781109489766,"version":"3.54.1"},"reference-count":22,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2020,8,28]],"date-time":"2020-08-28T00:00:00Z","timestamp":1598572800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>The purpose of the article was to build a low-cost system for identifying shapes in order to program industrial robots (on the base of the six-axis \u201cABB IRB 140\u201d robot) for a welding process in 2D. The whole system consisted of several elements developed in individual stages. The first step was to identify the existing robot control systems, which analysed images from an attached low-cost digital camera. Then, a computer program, which handles communication with the digital camera capturing and processing, was written. In addition, the program\u2019s task was to detect geometric shapes (contours) drawn by humans and to approximate them. This study also presents research on a binarization and contour recognition method for this application. Based on this, the robot is able to weld the same contours on a 2D plane.<\/jats:p>","DOI":"10.3390\/sym12091429","type":"journal-article","created":{"date-parts":[[2020,8,28]],"date-time":"2020-08-28T10:23:08Z","timestamp":1598610188000},"page":"1429","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Programming of Industrial Robots Using the Recognition of Geometric Signs in Flexible Welding Process"],"prefix":"10.3390","volume":"12","author":[{"given":"Olaf","family":"Ciszak","sequence":"first","affiliation":[{"name":"Faculty of Mechanical Engineering, Poznan University of Technology, 60-965 Pozna\u0144, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jakub","family":"Juszkiewicz","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, Poznan University of Technology, 60-965 Pozna\u0144, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7926-0574","authenticated-orcid":false,"given":"Marcin","family":"Suszy\u0144ski","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, Poznan University of Technology, 60-965 Pozna\u0144, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,28]]},"reference":[{"key":"ref_1","unstructured":"Hefele, J., and Brenner, C. 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