An approach to an expert robot welding system

Adaptive control and sensory processing techniques in robotic arc welding are discussed. The gas metal arc welding and gas tungsten arc welding processes are considered, along with a literature review of aspects of welding automation. Topics covered include process modeling, detection and measurement of process features, real-time control, and implementation considerations. An approach for an adaptive welding system is presented. The proposed architecture fits within the scope of an ambitious project to develop an expert welding robot. Different levels of automation are discussed, from the decision level to the closed-loop control of process variables and torch trajectory.>