Application of visual servoing to an X-ray based welding inspection robot

The paper presents a control system structure for an X-ray based welding inspection and image recording, and studies a new method to realize the synchronous movement between the inner and outer robots. The paper provides a new design to sense the relative movement of robots and utilizes it to synchronize the movement of dual robots. Based on the theory of image-based visual servo control, the paper studies its application to the welding scam tracking and cooperation control of dual robot, and implements the control algorithms. A time delay and white noises are introduced to simulate the lag due to image feature recognition and the mechanical vibration in the system. The simulation results show that the outer robot tracks the movement of inner robot very well. The experiments of the visual servo control algorithms are realized on the welding inspection and image recording system.