Recognition and Tracking of Large Seam Based on Robotic Vision

For the seams of large Structure, the low accordance of joint openings usually results in displacement of the real welding track from the robot teaching track, which will affect the welding quality of the structure. It has very important meanings to apply robotic vision for recognizing the feature parameters of the weld joints. A set of seam tracking system is presented. In order to remove arc noise, the methods of LOG filter and image segment filter are used in image processing.