A method of determining the coordinates of welding joints in the robot's technical vision system for arc welding

Welding is a technological process of creating permanent joints by creating interatomic bonds between components when they are heated, plastic deformed, or a combination of these two factors. Welding is a type of assembly operation; it allows you to create permanent joints. It has become widespread due to its simplicity

and high speed of connecting parts. Welding is a high-performance and cost-effective technological process that is used in many areas of mechanical engineering. The welding process must be automated. Automated welding is a fully automated process performed with the help of special robots and other welding equipment. Robot welding has a number of advantages, including high quality of finished products and high production productivity. In addition, an important advantage of robotic welding is its accuracy. The positioning error of the welding torch of modern welding robots is 0.03–0.05 mm, which is sufficient for most tasks. However, with hard programming of the robot (without adaptation), the positioning error can reach 0.5 mm or more. To reduce the error, it is necessary to use methods for correcting the welding trajectory based on measuring the coordinates of the welding joint using a vision system. Correction of the trajectory will ensure the quality of the welded product, but at the same time the welding speed may decrease. Therefore, in order to ensure the required welding accuracy and maintain an acceptable speed, the task arises to develop effective methods for determining the coordinates of the joints of welded joints using technical vision as part of an arc-welding robot.