基于激光跟踪的管道焊接机器人跟踪算法研究

Research on Automatic Tracking Algorithm of the Pipeline Welding Robot Based on Laser Seam Tracking

研究并提出了基于激光跟踪的管道焊接机器人跟踪算法,介绍了基于激光跟踪的焊缝跟踪技术的优点,对焊缝自动跟踪过程以及该过程中前置传感滞后跟踪、实时跟踪算法等关键技术问题进行了深入探讨。管道焊接机器人的工艺试验表明:该算法可有效提高基于激光跟踪的管道焊接机器人跟踪精度。

The automatic tracking algorithm of the pipeline welding robot based on laser seam tracking is developed in this paper.The advantages of the laser seam tracking are introduced.And we discussed the key technical problems in the automatic seam tracking process,such as detecting ahead and tracking behind,and the problems in real-time control algorithm.The test of the pipeline welding robot shows that the algorithm can improve the tracking accuracy of automatic welding.