基于示教与视觉纠偏的机器人自动焊接方法研究

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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..

摘要给出了一种示教与纠偏相结合的焊缝跟踪方法，用于实现机器人的自动焊接．针对传统的示教再现机器人，由激光视觉传感器测量实际路径与示教路径之间的偏差．机器人控制器根据示教路径和偏差，对焊枪的运动方向和位置进行调整，实现焊缝跟踪．利用六自由度机器人和激光结构光视觉传感器设计了实验系统，对所提方法进行了实验．实验结果验证了该方法的有效性．

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关键词 ：视觉传感器, 图像处理, 焊缝跟踪

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.

Key words： vision sensor image processing weld seam tracking

收稿日期: 2006-05-29

TP24

基金资助:国家自然科学基金资助项目（60672039）

作者简介: 鄢治国（1981- ），男，博士生．研究领域：智能焊接，图像处理．
徐德（1965- ），男，博士，研究员．研究领域：微光机电系统，智能控制，计算机控制技术．
李原（1977- ），男，博士生．研究领域：焊接机器人，图像处理，模式识别等．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2007/V29/I3/256

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