Automated Robotic Welding Based on Teaching and Visual Correction
YAN Zhi-guo1,2, XU De1, LI Yuan3, TAN Min1
1. Key Laboratory of Complex Systems and Intelligent Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China; 2. Graduate University of the Chinese Academy of Sciences, Beijing 100049, China; 3. School of Information Science and Technology, Bejing linstitute of Technology, Beijing 100081, China
鄢治国, 徐德, 李原, 谭民. 基于示教与视觉纠偏的机器人自动焊接方法研究[J]. 机器人, 2007, 29(3): 256-260..
YAN Zhi-guo, XU De, LI Yuan, TAN Min. Automated Robotic Welding Based on Teaching and Visual Correction. ROBOT, 2007, 29(3): 256-260..
Abstract：A method combining teaching and visual correction for weld seam tracking is presented to realize robotic automatic welding.In this method,a laser-based vision sensor is applied to traditional teaching and playback welding robot to measure deviations between the teaching path and the real path,then the robot controller adjusts the moving direction and position of the welding torch according to the deviations and teaching path,hence the seam tracking function can be fulfilled.Experiments have been conducted with an experimental system consisting of a 6-DOF robot and a laser-based vision sensor,and the experimental results demonstrate the validity of the proposed method.
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