摘要
针对目前国内航空飞机导管焊接主要采用手工钨极氩弧焊的现状,提出了导管数字化焊接思路,对该系统中涉及的机器人手眼关系标定进行了研究.通过在META焊缝跟踪传感器安装距离处建立摄像机坐标系,利用一台三坐标仪完成了机器人的手眼关系标定.结果表明:此标定方法精度为±0.4mm,满足飞机导管数字化焊接的要求.
Based on the current domestic situation that the welding of aero tube is mainly the manual gas tungsten arc welding, a digital welding of aero tube was proposed. The hand-eye calibration of robot in- volved in the system was studied. By establishing the camera coordinate system in the installation distance of META seam tracking sensor, the hand-eye calibration is completed using a three dimensional measuring machine. The results show that the calibration accuracy of this method is ±0.4 mm, which meets the re- quirement of the digital welding of aero tube.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2015年第3期392-394,401,共4页
Journal of Shanghai Jiaotong University
关键词
导管数字化焊接
手眼标定
三坐标仪
焊缝跟踪传感器
digital welding of aero tube
hand-eye calibration
three dimensional measuring machine
seam tracking sensor
