| A visual servo and control system for welding seam tracking was introduced in the article. The content is consist of hardware configure, the method for welding seam recognition, the control strategy for welding seam tracking and its practical result of experiment.In the article, the hardware which based on nested industrial computer and laser image sensor for welding seam tracking of V-groove and Multi-Layer Multi-road weld was developed, the hardware system cooperate with the software that design with Visual C++6.0 to realize welding seam tracking.With the help of idea previous for image processing and via illuminated and compared for traditions fringe detection ways, a new method and personal software for image processing are offered in the article. The feasibility of the method was also proved by experiment in the article. Then, seam recognition for V-groove, Lap, Fillet, Butt and Multi-Layer Multi-Road is come true.Traditional PID control strategy, Fuzzy control strategy and Fuzzy-PID control strategy are offered in the article. The software for tracking of V-groove and Multi-Layer Multi-Road was also provided in the article. The software provide the function of display and stakeout the image which disposing and been processed. The information from processed seam image was put into Fuzzy-PID controller and via output disposal, welding seam tracking was realized finally.The visual servo and control system for welding seam tracking were validated by experiment, the feasibility also been proved.
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