Dynamic modeling of semi-structure environment of remote robotic welding

The dynamic modeling of remote weld was investigated based on the information acquired by laser sensor mounted on robet arm.The scanning path of a weld seam was constructed by introducing the concept of virtual guide,which can lower operative difficulties for the operator in master site and show high security.Template matching was used to recognize the weld seam,and an uniform "V" contour was defined to represent any section of the seam section.At last,cubic spline was employed to construct the continuous model of the seam.The above works were successfully accomplished in VE that was developed by using Java and Java3D,which provides a valuable reference for remote robotic welding.