Robot Path Correction Using Stereo Vision System

Abstract

This paper discusses the development and integration of a stereo vision system with an industrial robotic arm for welding operations. In order for the effects of lighting and background noise to be overcome, laser diodes are used to highlight the welding area. The distortion of the laser lines is used for the identification of the welded parts’ flange and for the correction of the robot's path so as for the welding spot to be properly located in this area. The system is deployed on an assembly cell that produces a part of a commercial vehicle door. The performance and accuracy of the system are validated in this case.