Real-Time Seam Tracking Technology of Welding Robot with Visual Sensing

被引：68

作者：

Shen, Hongyuan ^{[1
]}

Lin, Tao ^{[1
]}

Chen, Shanben ^{[1
]}

Li, Laiping ^{[2
]}

机构：

[1] Shanghai Jiao Tong Univ, Inst Welding Engn, Shanghai 200030, Peoples R China

[2] Shanghai Spaceflight Precis Machinery Res Inst, Shanghai 201600, Peoples R China

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2010年 / 59卷 / 3-4期

基金：

中国国家自然科学基金;

关键词：

Visual sensing; Real time; Seam tracking; Welding robot; HEIGHT-VARYING WELDMENT; VISION SENSORS; SYSTEM; POOL; METAL;

D O I：

10.1007/s10846-010-9403-1

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A seam tracking system with visual sensing free from calibration was developed for the robot applied in gas tungsten arc welding. A visual sensor with double-layer filter system was researched for the different levels of the welding current. An image processing in C+ + language was developed to extract the seam trajectory and the offset of the torch to the seam in the welding images of aluminum alloys plates with grooves. The rectifying rule of the robot used in this paper was found based on the experimental data, and the seam tracking controller was also analyzed and constructed. The experimental results on straight line seam and curve seam demonstrated the efficiency of the proposal seam tracking system.

引用

页码：283 / 298

页数：16

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