Fig. 1. Automated GTAW welding cell developed for feed forward control of welding parameters through in-process ultrasonic thickness measurement. A 6 DOF robotic manipulator is fitted with a welding head, laser profiler and weld camera. The PEAK LTPA ultrasonic driver and digitiser is located directly next to the location of welding.

Fig. 1. Automated GTAW welding cell developed for feed forward control of welding parameters through in-process ultrasonic thickness measurement. A 6 DOF robotic manipulator is fitted with a welding head, laser profiler and weld camera. The PEAK LTPA ultrasonic driver and digitiser is located directly next to the location of welding.