A dual digital signal processor (DSP) visual feedback control system was developed for controlling mobile welding robots for on-site repairs of the turbine blades in the Three Gorges power station. The modulated design of each functional unit and the cascade assembly structure gives a compact 170 mm * 57 mm * 40 mm unit with image grabbing and processing by a TMS320DM642, motion control and parameter regulation by a TMS320LF2812, and integrated digital and analog video inputs, and outputs and the power source. Therefore, the mobile welding robot can work independently of the IPC for process monitoring, seam tracing and weld formation control during MIG (metal inertia gas), TIG (Tungsten inertia gas) and CO/sub 2/ welding.
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