Accurate edge detection for robotic welding through tactile exploration
Shameek Ganguly,Oussama Khatib,Shameek Ganguly,Oussama Khatib
Programming paths for robotic welding conventionally requires precise positioning of workpieces, detailed 3D models and/or tedious teach pendant programming. A new method is introduced in this paper that enables an operator to teach the weld path to the robot through a haptic-visual interface. The operator teaches the path by guiding the tool tip to contact on the workpiece surface with force feed...
