Sensor-guided robotic laser welding

Robotic laserwelding is a promising joining technique for welding of continuous seams in 3D products. High quality joints can be realised provided that the manipulation of the laser beam and the product tolerances meet strict criteria. The requirements for the positioning accuracy of the laser beamcan be fulfilled using seam-tracking sensors. This thesis describes how such sensors can be integrated in a robotic laser welding system for automatic teaching of the seam trajectory, but also to correct small errors (e.g. clamping errors, heat deviation errors) from a pre-defined seam trajectory