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
为实现工业机器人自动跟踪曲线焊缝,提出了协调焊枪运动和视觉跟踪的视觉伺服控制方法.建立了特征点的数学模型,并在此基础上确定机器人运动的旋转轴.设计了一种双层结构的模糊视觉伺服控制器,通过动态确定控制量有效范围来保证图像特...为实现工业机器人自动跟踪曲线焊缝,提出了协调焊枪运动和视觉跟踪的视觉伺服控制方法.建立了特征点的数学模型,并在此基础上确定机器人运动的旋转轴.设计了一种双层结构的模糊视觉伺服控制器,通过动态确定控制量有效范围来保证图像特征存在于视场中.为准确确定有效范围,设计了带模型动态补偿的K a lm an滤波器.曲线焊缝的自动跟踪实验验证了所提方法的有效性.展开更多
基金Supported by National Natural Science Foundation of China（60874002） Key Project of Shanghai Education Committee （09ZZ158） Leading Academic Discipline Project of Shanghai Municipal Government （S30501）
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.
文摘为实现工业机器人自动跟踪曲线焊缝,提出了协调焊枪运动和视觉跟踪的视觉伺服控制方法.建立了特征点的数学模型,并在此基础上确定机器人运动的旋转轴.设计了一种双层结构的模糊视觉伺服控制器,通过动态确定控制量有效范围来保证图像特征存在于视场中.为准确确定有效范围,设计了带模型动态补偿的K a lm an滤波器.曲线焊缝的自动跟踪实验验证了所提方法的有效性.
