Development of Seam Tracking Sensor in ROS Environment

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dc.contributor.authorYildiz, Ali Riza
dc.contributor.authorAdar, Nurettin Gökhan
dc.date.accessioned2026-02-08T15:11:12Z
dc.date.available2026-02-08T15:11:12Z
dc.date.issued2025
dc.departmentBursa Teknik Üniversitesi
dc.description9th International Symposium on Innovative Approaches in Smart Technologies, ISAS 2025 -- 2025-06-27 through 2025-06-28 -- Gaziantep -- 211342
dc.description.abstractSeam tracking sensors are critical for improving the accuracy and adaptability of robotic welding systems. In this study, a vision-based seam tracking sensor was developed and simulated entirely within the Robot Operating System (ROS) and Gazebo environment. A structured light sensor, consisting of a line laser and a camera, was modeled to detect weld seam positions through laser triangulation. Real-time image processing algorithms were implemented to extract seam coordinates, while trajectory planning and motion control modules enabled the Cartesian robot to dynamically adjust its path during operation. The developed system architecture ensured synchronized communication between sensor data acquisition and robot control layers. Simulation results demonstrate that the proposed system achieves accurate and responsive seam tracking under varying seam deviations. The study highlights the potential of simulation-driven development for validating sensor designs and control strategies in a risk-free and cost-effective manner before physical deployment. © 2025 IEEE.
dc.description.sponsorshipTürkiye Bilimsel ve Teknolojik Araştırma Kurumu, TUBITAK, (2220078); Türkiye Bilimsel ve Teknolojik Araştırma Kurumu, TUBITAK
dc.identifier.doi10.1109/ISAS66241.2025.11101968
dc.identifier.isbn9798331514822
dc.identifier.scopus2-s2.0-105014947317
dc.identifier.scopusqualityN/A
dc.identifier.urihttps://doi.org/10.1109/ISAS66241.2025.11101968
dc.identifier.urihttps://hdl.handle.net/20.500.12885/5313
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzScopus_KA_20260207
dc.subjectimage processing
dc.subjectROS
dc.subjectSeam tracking sensor
dc.titleDevelopment of Seam Tracking Sensor in ROS Environment
dc.typeConference Object

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