When tubules regularly arranged are welded onto a bobbin by robot, the position and orientation of some tubules may be changed by such factors as thermal deformations and positioning errors etc. Which make it very dif...When tubules regularly arranged are welded onto a bobbin by robot, the position and orientation of some tubules may be changed by such factors as thermal deformations and positioning errors etc. Which make it very difficult to weld automatically and continuously by the method of teaching and playing. In this paper, a kind of error measuring system is presented. By which the position and orientation errors of tubules relative to the teaching one can be measured. And, a method to correct the locus errors is also proposed, by which the moving locus planned via teaching points can be corrected in real time according to measured error parameters. So that, just by teaching one, all tubules on a bobbin could be welded automatically.展开更多
The function,features,and architecture of a robot that performs automatic temperature measurement and sampling applied on a 150-t AC electric arc furnace(EAF)production line of Baosteel were presented,and the key poin...The function,features,and architecture of a robot that performs automatic temperature measurement and sampling applied on a 150-t AC electric arc furnace(EAF)production line of Baosteel were presented,and the key points of design and revamping experience on the site layout,device protection,lance tool,probe container,measuring position control,and system safety were summarized.Furthermore,a valuable reference for the application of automatic temperature measuring and sampling robots in EAF steelmaking plants will be provided.展开更多
In this paper,we present a robot vision based system for coordinate measurement of feature points on large scale automobile parts.Our system consists of an industrial 6-DOF robot mounted with a CCD camera and a PC.The...In this paper,we present a robot vision based system for coordinate measurement of feature points on large scale automobile parts.Our system consists of an industrial 6-DOF robot mounted with a CCD camera and a PC.The system controls the robot into the area of feature points.The images of measuring feature points are acquired by the camera mounted on the robot.3D positions of the feature points are obtained from a model based pose estimation that applies to the images.The measured positions of all feature points are then transformed to the reference coordinate of feature points whose positions are obtained from the coordinate measuring machine（CMM）.Finally,the point-to-point distances between the measured feature points and the reference feature points are calculated and reported.The results show that the root mean square error（RMSE） of measure values obtained by our system is less than 0.5 mm.Our system is adequate for automobile assembly and can perform faster than conventional methods.展开更多
文摘When tubules regularly arranged are welded onto a bobbin by robot, the position and orientation of some tubules may be changed by such factors as thermal deformations and positioning errors etc. Which make it very difficult to weld automatically and continuously by the method of teaching and playing. In this paper, a kind of error measuring system is presented. By which the position and orientation errors of tubules relative to the teaching one can be measured. And, a method to correct the locus errors is also proposed, by which the moving locus planned via teaching points can be corrected in real time according to measured error parameters. So that, just by teaching one, all tubules on a bobbin could be welded automatically.
文摘The function,features,and architecture of a robot that performs automatic temperature measurement and sampling applied on a 150-t AC electric arc furnace(EAF)production line of Baosteel were presented,and the key points of design and revamping experience on the site layout,device protection,lance tool,probe container,measuring position control,and system safety were summarized.Furthermore,a valuable reference for the application of automatic temperature measuring and sampling robots in EAF steelmaking plants will be provided.
基金wsupported by the Thailand Research Fund and Solimac Automation Co.,Ltd.under the Research and Researchers for Industry Program(RRI)under Grant No.MSD56I0098Office of the Higher Education Commission under the National Research University Project of Thailand
文摘In this paper,we present a robot vision based system for coordinate measurement of feature points on large scale automobile parts.Our system consists of an industrial 6-DOF robot mounted with a CCD camera and a PC.The system controls the robot into the area of feature points.The images of measuring feature points are acquired by the camera mounted on the robot.3D positions of the feature points are obtained from a model based pose estimation that applies to the images.The measured positions of all feature points are then transformed to the reference coordinate of feature points whose positions are obtained from the coordinate measuring machine（CMM）.Finally,the point-to-point distances between the measured feature points and the reference feature points are calculated and reported.The results show that the root mean square error（RMSE） of measure values obtained by our system is less than 0.5 mm.Our system is adequate for automobile assembly and can perform faster than conventional methods.
