Design and validation of a universal 6D seam-tracking system in robotic welding using arc sensing.

Mikael Fridenfalk Gunnar S. Bolmsjö Design and validation of a universal 6D seam-tracking system in robotic welding using arc sensing. 1-21 2004 18 Advanced Robotics 1 http://dx.doi.org/10.1163/156855304322753272 db/journals/ar/ar18.html#FridenfalkB04