机器人CO_2焊接视觉跟踪实时控制研究

A STUDY OF REAL-TIME CONTROLIN ROBOT CO_2 WELDING VISION TRACKING

本文在对采用ＣＣＤ摄象机正面拍摄焊接区图象并用微机进行图象处理，以及对视觉跟踪采用实时控制的必要性分析的基础上，通过实验建立了一个实用的机器人ＣＯ_２保护焊自适应控制系统。试验表明该系统能成功地避开焊接时短路过渡的干扰，获得满意的焊接区图象，满足机器人弧焊实时控制的要求．

This paper first expounds the necessity of applying real-time control in the vision sensing and tracking system of robot welding,and then analyses the difficulties of welding image processing. Finally, through experiments, a practical robot CO_2 are adaptive feedback tracking system is established. This real-time control image processing system can successfully eliminate the interference of short transfer welding and achieve desirable welding image. It will meet the needs of real-time control in robot are welding.