A magnetic mobile platform, manipulator and vision sensors support research on seam perception, path planning and welding control inside pressure pipes.

Prototype integration and laboratory work address pre-weld localization, seam identification and coordination of the mobile platform and manipulator. The vision-language workflow explores the route from task descriptions to welding trajectories.

Integration of a magnetic mobile platform and manipulator.
Integration of a magnetic mobile platform and manipulator.
Wall-climbing robot prototype and experimental setup.
Wall-climbing robot prototype and experimental setup.
Manipulator, vision sensor and welding-torch integration.
Manipulator, vision sensor and welding-torch integration.
Schematic of a pumped-storage plant and its pressure-pipe application.
Schematic of a pumped-storage plant and its pressure-pipe application.
Schematic of magnetic attachment inside a pressure pipe.
Schematic of magnetic attachment inside a pressure pipe.
Research workflow for vision- and language-guided seam identification and trajectory generation.
Research workflow for vision- and language-guided seam identification and trajectory generation.