Project

The Robot

Universal Robots logo
UR10e torch

The basis of our autonomous welding solution is the UR10e robotic arm by Universal Robots. The UR10e is an extraordinarily versatile collaborative industrial robot, delivering both high payload (12.5 kg) lift and long reach (1300mm) which makes it well suited for a wide range of applications.

The robot can be configured for either MIG/MAG or TIG welding by attaching the appropriate welding torch as an end effector and choosing the corresponding welding machine.


Sensors

PhoXi seam tracker
Equipped with a Photoneo PhoXi 3D Scanner, the robot scans the welding part and creates a detailed 3D model representation of it that is used for obstacle avoidance and automated welding seam detection through a custom AI pipeline. To achieve the precision required to perform a high quality weld, we make use of an EVT Saturn 3D laser sensor as a seam tracker. The point cloud generated by the sensor captures the elevation changes of the welding seam and guides the motion of the welding torch.

Software

ROS logo MoveIt logo
ShipWeld is built on ROS. The Robot Operating System (ROS) is an open-source robotics middleware suite. It provides a set of software libraries and tools that help the development of robotic applications. ShipWeld primarily utilizes MoveIt. MoveIt is an easy to use open source robotics manipulation platform. By incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation, MoveIt is state of the art software for mobile manipulation.

Human Robot Interaction

htc vive
Our solution also provides seamless integration with the HTC Vive 3D tracking ecosystem. The HTC Vice helps to enhance the human-robot interaction and cooperation. With the use of the 3D tracker, an arbitrary welding trajectory can easily be defined and executed.

AI

ai
ShipWeld is also powered by UMNAI's explainable AI (XAI). The explainable AI facilitates the identification and resolution of bad decisions, making the system easier to train, more predictable and thus safer.

GUI

gui gui
gui2 gui3
To tie everything together, a custom Graphical User Interface (GUI) has been developed. The GUI provides a user friendly way to coordinate, control and monitor in real time the robotic system.

Video Demonstration