Automated Control Module Based on VBM for Shipyard Welding Applications: Study Case on the Bug-O Matic Weaver Robot

In shipbuilding, welding is a key process. The present paper proposes a VBM (Vision-Based Measurement) system for the automation of intelligent robotic welding applications. The proposed system is based on a single CMOS camera as visual sensor, for the image acquisition, and a FPGA (Field Programmable Gate Array) digital system, able to read the robot signals and adjust the weld pattern and welder equipment parameters in real time. The image processing and groove parameters extraction is performed using a standard computer. A full system prototype using a linear welding robot is presented. The evaluation of the VBM as a measuring equipment shows the approach capabilities.