Hao Ren 0003 Xinyu Wu 0001 Wanfeng Shang Vision-based soldering process parameters calculation for Robotic soldering. 1189-1194 2021 RCAR https://doi.org/10.1109/RCAR52367.2021.9517396 conf/rcar/2021 db/conf/rcar/rcar2021.html#Ren0S21