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  • Research Article
  • Open Access

Robot Path Generation Method for a Welding System Based on Pseudo Stereo Visual Servo Control

  • 1Email author,
  • 2,
  • 1 and
  • 1
EURASIP Journal on Advances in Signal Processing20052005:520734

  • Received: 30 December 2003
  • Published:


A path generation method for robot-based welding systems is proposed. The method that is a modification of the method "teaching by showing" is supported by the recently developed pseudo stereovision system (PSVS). A path is generated by means of the target-object (TOB), PSVS, and the pseudo stereo visual servo control scheme proposed. A part of the new software application, called humanPT, permits the communication of a user with the robotic system. Here, PSVS, the robotic system, the TOB, the estimation of robot poses by means of the TOB, and the control and recording algorithm are described. Some new concepts concerning segmentation and point correspondence are applied as a complex image is processed. A method for calibrating the endpoint of TOB is also explained. Experimental results demonstrate the effectiveness of the proposed system.

Keywords and phrases

  • path generation
  • pseudo stereovision system
  • robotic application HumanPT
  • target-object
  • calibration
  • complex image

Authors’ Affiliations

Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, 67100, Greece
Department of Petroleum Technology, Technological Educational Institute of Kavala, Ag Loukas, Kavala, 65404, Greece


© Theodore P. Pachidis et al. 2005

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.