Curiel Braco, DavidVeiga Suárez, FernandoSuárez, AlfredoVillanueva Roldán, PedroAldalur, Eider2023-09-182023-09-182023Curiel, D., Veiga, F., Suarez, A., Villanueva, P., Aldalur, E. (2023) Automatic trajectory determination in automated robotic welding considering weld joint symmetry. Simmetry, 15(9), 1-14. https://doi.org/10.3390/sym15091776.2073-899410.3390/sym15091776https://academica-e.unavarra.es/handle/2454/46354The field of inspection for welded structures is currently in a state of rapid transformation driven by a convergence of global technological, regulatory, and economic factors. This evolution is propelled by several key drivers, including the introduction of novel materials and welding processes, continuous advancements in inspection technologies, innovative approaches to weld acceptance code philosophy and certification procedures, growing demands for cost-effectiveness and production quality, and the imperative to extend the lifespan of aging structures. Foremost among the challenges faced by producers today is the imperative to meet customer demands, which entails addressing both their explicit and implicit needs. Furthermore, the integration of emerging materials and technologies necessitates the exploration of fresh solutions. These solutions aim to enhance inspection process efficiency while providing precise quantitative insights into defect identification and location. To this end, our project proposes cutting-edge technologies, some of which have yet to gain approval within the sector. Noteworthy among these innovations is the integration of vision systems into welding robots, among other solutions. This paper introduces a groundbreaking algorithm for tool path selection, leveraging profile scanning and the concept of joint symmetry. The application of symmetry principles for trajectory determination represents a pioneering approach within this expansive field.application/pdfeng© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.Robotic weldingGMAWPart inspectionProfilometryinfo:eu-repo/semantics/article2023-09-18info:eu-repo/semantics/openAccess