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Robotic arc welding and its dependence on sensory feed-back control for successful application is discussed. Problems unique to arc weld sensing are identified and sensor requirements are categorized as a function of welding design requirements, joint imperfections, weld shape deviations, and process characteristics. The two most prevalent approaches of weld sensing, i.e., optical and through-the arc sensing, are covered.
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George E. Cook (1983) studied this question.
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