시각센서를 이용한 비원형 압축기 케이스의 자동용접시스템 개발에 관한 연구

A study on development of automatic welding system for compressor ease using vision sensor

Vision sensor was used to track the weld line of the compressor case. The compressor case was fixed in jig equipped with the rotating system, and two torches having one degree of freedom was applied in automatic welding system. The radius of rotation for the compressor case is varying with each rotating angle, while, the angle velocity is constant Therefore, an algorithm to extract the feature of the compressor case for varying rotation angle is needed. To over come the avove difficulties, the curve fitting and composite curve were used. The experiment to verify the proposed algorithm showed desirable results for tracking the welding line of compressor case.