Study on Workpiece and Welding Torch Height Control for Polydirectional WAAM by Means of Image Processing

A study on workpiece and welding torch height control in WAAM applications that can be applied for a wide range of materials has been conceptually drawn and evaluated. The current wire stickout length was acquired by means of image processing and combined with the actual position of the welding torch to compute a workpiece elevation map. Two conceptual control strategies have been introduced and tested. Workpiece height deviations, caused by process irregularities and deliberately induced disturbances have been successfully compensated. In addition, the torch to workpiece distance has been automatically adjusted to maintain process stability.