摘要
为实现工业机器人自动跟踪曲线焊缝,提出了协调焊枪运动和视觉跟踪的视觉伺服控制方法.建立了特征点的数学模型,并在此基础上确定机器人运动的旋转轴.设计了一种双层结构的模糊视觉伺服控制器,通过动态确定控制量有效范围来保证图像特征存在于视场中.为准确确定有效范围,设计了带模型动态补偿的K a lm an滤波器.曲线焊缝的自动跟踪实验验证了所提方法的有效性.
A visual servoing control method which harmonizes the torch motion with visual tracking is proposed for robot tracking weld seams shaped curve. Firstly, a mathematical model for feature points is established, and then rotation axis is computed. A fuzzy visual servoing controler with two-layers structure is designed to keep image features among vision field by computing valid range of control outputs. In order to get precise valid range of control output, a state estimator based on Kalman filter with dynamic model compensation is designed. The proposed method is verified by tracking experiments.
出处
《控制与决策》
EI
CSCD
北大核心
2006年第4期405-409,共5页
Control and Decision
基金
国家863计划基金项目(2002AA422160)
国家973计划基金项目(2002CB312200)
关键词
焊接机器人
结构光视觉
曲线焊缝跟踪
视觉伺服控制
Welding robot
Structured light vision
Tracking weld seams shaped curve
Visual servoing control
