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
In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of im...In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of image Jacobian, CMAC (cerebellar model articulation controller) neural network is inserted into visual servo control loop to implement the nonlinear mapping. Two control schemes are used. Simulation results on two schemes are provided, which show a better tracking precision and stability can be achieved using scheme 2.展开更多
A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay ...A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.展开更多
Methods of arc length control and visual image based weld detection for precision pulse TIG welding were investigated. With a particular all hardware circuit, arc voltage during peak current stage is sampled and inte...Methods of arc length control and visual image based weld detection for precision pulse TIG welding were investigated. With a particular all hardware circuit, arc voltage during peak current stage is sampled and integrated to indicate arc length, deviation of arc length and adjusting parameters are calculated and output to drive a step motor directly. According to the features of welding image grabbed with CCD camera, a special algorithm was developed to detect the central line of weld fast and accurately. Then an application system were established, whose static arc length error is ±0.1 mm with 20 A average current and 1 mm given arc length, static detection precision of weld is 0.01 mm , processing time of each image is less than 120 ms . Precision pulse TIG welding of some given thin stainless steel components with complicated curved surface was successfully realized.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.
基金This project is supported by National Natural Science Foundation of China (No.59990470).
文摘In IBVS (image based visual servoing), the error signal in image space should be transformed into the control signal in the input space quickly. To avoid the iterative adjustment and complicated inverse solution of image Jacobian, CMAC (cerebellar model articulation controller) neural network is inserted into visual servo control loop to implement the nonlinear mapping. Two control schemes are used. Simulation results on two schemes are provided, which show a better tracking precision and stability can be achieved using scheme 2.
基金supported by China Postdoctoral Science Founda-tion (No. 20080441093)Key Laboratory Foundation of Liaoning Province (No. 2008S088).
文摘A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.
文摘Methods of arc length control and visual image based weld detection for precision pulse TIG welding were investigated. With a particular all hardware circuit, arc voltage during peak current stage is sampled and integrated to indicate arc length, deviation of arc length and adjusting parameters are calculated and output to drive a step motor directly. According to the features of welding image grabbed with CCD camera, a special algorithm was developed to detect the central line of weld fast and accurately. Then an application system were established, whose static arc length error is ±0.1 mm with 20 A average current and 1 mm given arc length, static detection precision of weld is 0.01 mm , processing time of each image is less than 120 ms . Precision pulse TIG welding of some given thin stainless steel components with complicated curved surface was successfully realized.
