Microcomputer-based optical sensor for seam tracking robot

Abstract A continuous path robot used in welding or sealant spreading requires a sensor to detect the exact seam path of the object. This paper is to illustrate the principle of an innovative optical sensor designed to guide a robot in this type of application. A linear array detector served as the measuring device to provide lateral, vertical, and singular deviations of the seam path in real-time. This information was converted into robot control commands by a multiprocessor computer system to minimize the path following errors. Finally, the robotic system equipped with this sensing device was tested and the performance was evaluated.