Study on 3-D joint seam tracking control in non-ferrous metal complicated curve surface laser welding

In order to realize 3-D joint seam tracking accurately in the process of non-ferrous metal complicated curve surface laser welding,the 3-D joint seam real-time measurement was adopted to compensate for the joint seam deformation dynamically.The control arithmetic and key technologies for 3-D seam welding-measuring integration control system were studied,including the mathematics model of motion control,the scheme of welding path and measuring path,the real time inspection and dynamic compensation in welding,etc.The proposed arithmetic was testified by the experiment in which the nonferrous metal with less than 3mm thickness was welded by 4kW fiber laser.The test indicates that the 3-D joint seam weldingmeasuring integration control system can achieve the 3-D joint seam's online inspection,real time welding and dynamic compensation quickly and precisely,which satisfies the measuring system' s precision requirement.