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Research Program","award":["2021A1515012638"],"award-info":[{"award-number":["2021A1515012638"]}]},{"name":"Guangzhou Municipal Basic Research Program","award":["KF-01-22005"],"award-info":[{"award-number":["KF-01-22005"]}]},{"name":"Guangzhou Municipal Basic Research Program","award":["202002030320"],"award-info":[{"award-number":["202002030320"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>The welding seam tracking operation ensures that the welding torch of the welding robot can go with the welding seam during the whole symmetrical robotic welding procession. To achieve three-dimensional complex welding seams tracking, a four-step welding seam tracking system is suggested based on segmented scanning, combined filtering, feature-point extraction, and welding path planning. From using the laser sensor installed at the end of welding robot, the welding seam data was continuously collected in multiple segments by segmented scanning. For the purpose of improving seam tracking accuracy, a combined filtering technique was used to correct the data to reduce the effects of burrs, data distortion, and noise on the surface of the weldment. Then, the feature points were collected so that the coordinate system will be calibrated to identify the welding points. Finally, a spatial welding path was obtained by welding path planning. Experimental investigations of the two-dimensional (2D) symmetrical S-shaped and three-dimensional (3D) curved welding seams were conducted. The obtained results demonstrate the proposed method can form a complete welding path. The average errors of the two weldments are about 0.296 mm and 0.292 mm, respectively. This shows that the proposed tracking method is effective and can provide a reference for the research of high-precision seam tracking and automatic welding.<\/jats:p>","DOI":"10.3390\/sym15051093","type":"journal-article","created":{"date-parts":[[2023,5,17]],"date-time":"2023-05-17T01:52:41Z","timestamp":1684288361000},"page":"1093","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["A Novel 3D Complex Welding Seam Tracking Method in Symmetrical Robotic MAG Welding Process Using a Laser Vision Sensing"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3651-3639","authenticated-orcid":false,"given":"Gong","family":"Zhang","sequence":"first","affiliation":[{"name":"Frontier Science and Technology Research Center, Guangzhou Institute of Advanced Technology, Guangzhou 511458, China"},{"name":"School of Engineering Science, University of Chinese Academy of Sciences, Beijing 100049, China"}]},{"given":"Jing","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Intelligent Manufacturing, Chengdu Technological University, Chengdu 611730, China"}]},{"given":"Yueyu","family":"Wu","sequence":"additional","affiliation":[{"name":"Frontier Science and Technology Research Center, Guangzhou Institute of Advanced Technology, Guangzhou 511458, China"}]},{"given":"Gen","family":"Yang","sequence":"additional","affiliation":[{"name":"Frontier Science and Technology Research Center, Guangzhou Institute of Advanced Technology, Guangzhou 511458, China"}]},{"given":"Si","family":"Di","sequence":"additional","affiliation":[{"name":"Frontier Science and Technology Research Center, Guangzhou Institute of Advanced Technology, Guangzhou 511458, China"}]},{"given":"Hai","family":"Yuan","sequence":"additional","affiliation":[{"name":"Frontier Science and Technology Research Center, Guangzhou Institute of Advanced Technology, Guangzhou 511458, China"}]},{"given":"Xuepeng","family":"Cao","sequence":"additional","affiliation":[{"name":"School of Construction Machinery, Chang\u2019an University, Xi\u2019an 710064, China"}]},{"given":"Kyoosik","family":"Shin","sequence":"additional","affiliation":[{"name":"Department of Robot Engineering, Hanyang University, Ansan 426-791, Republic of Korea"}]}],"member":"1968","published-online":{"date-parts":[[2023,5,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1016\/S0736-5845(03)00068-1","article-title":"Optimal design of neural networks for control in robotic arc welding","volume":"20","author":"Kim","year":"2004","journal-title":"Robot. 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