A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning...A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.展开更多
A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian...A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian space and two outer-loops. One is position-based visual control inCartesian space for moving in the direction of weld seam, i.e., weld seam tracking, another is image-based visual control in image space for adjustment to eliminate the errors in the process of tracking.A new Jacobian matrix from image space of the feature point on structured light stripe to Cartesianspace is provided for dierential movement of the end-e?ector. The control system model is simplifiedand its stability is discussed. An experiment of arc welding protected by gas CO2 for verifying iswell conducted.展开更多
In this paper we show how light emitting diodes (LEDs) can be used in conjunction with existing display technologies as a means for achieving ultra-rapid visual stimulus exposure durations. We review existing rapid vi...In this paper we show how light emitting diodes (LEDs) can be used in conjunction with existing display technologies as a means for achieving ultra-rapid visual stimulus exposure durations. We review existing rapid visual display methods, and show how our apparatus overcomes the limitations inherent with each technique. Our apparatus, the LED tachistoscope, takes advantage of the fast-switching times and high-brightness capabilities of LEDs in order to present stimuli at previously unachievable durations as rapid as 1 ms. The rapid exposure durations are achieved by external LED backlight illumination of images on a liquid crystal display (LCD) after the components of the LCD have stabilized. This ensures that stimulus onset and offset are discrete. Furthermore, the fast-switching of the LEDs enables stimuli to be revealed for very rapid durations. The paper also describes studies in which the LED tachistoscope has already been applied, and offers suggestions for other possible applications. Interestingly, in our studies we show that the human visual system is very adept at extracting information with only very minimal stimulus exposure durations. Such studies have not been possible with existing display equipment. The LED tachistoscope opens up avenues for a variety of psychological and physiological experiments and provides a means for revealing the limits of human visual perception.展开更多
基金This work was supported by the National High Technology Research and Development Program of China under Grant 2002AA422160 by the National Key Fundamental Research and the Devel-opment Project of China (973) under Grant 2002CB312200.
文摘A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently.
文摘A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian space and two outer-loops. One is position-based visual control inCartesian space for moving in the direction of weld seam, i.e., weld seam tracking, another is image-based visual control in image space for adjustment to eliminate the errors in the process of tracking.A new Jacobian matrix from image space of the feature point on structured light stripe to Cartesianspace is provided for dierential movement of the end-e?ector. The control system model is simplifiedand its stability is discussed. An experiment of arc welding protected by gas CO2 for verifying iswell conducted.
文摘In this paper we show how light emitting diodes (LEDs) can be used in conjunction with existing display technologies as a means for achieving ultra-rapid visual stimulus exposure durations. We review existing rapid visual display methods, and show how our apparatus overcomes the limitations inherent with each technique. Our apparatus, the LED tachistoscope, takes advantage of the fast-switching times and high-brightness capabilities of LEDs in order to present stimuli at previously unachievable durations as rapid as 1 ms. The rapid exposure durations are achieved by external LED backlight illumination of images on a liquid crystal display (LCD) after the components of the LCD have stabilized. This ensures that stimulus onset and offset are discrete. Furthermore, the fast-switching of the LEDs enables stimuli to be revealed for very rapid durations. The paper also describes studies in which the LED tachistoscope has already been applied, and offers suggestions for other possible applications. Interestingly, in our studies we show that the human visual system is very adept at extracting information with only very minimal stimulus exposure durations. Such studies have not been possible with existing display equipment. The LED tachistoscope opens up avenues for a variety of psychological and physiological experiments and provides a means for revealing the limits of human visual perception.
