基于宏微机器人的焊缝跟踪研究

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (866 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
杨平, 徐德, 李原. 基于宏微机器人的焊缝跟踪研究[J]. 机器人, 2008, 30(6): 503-507,515.. YANG Ping, XU De, LI Yuan. Weld Seam Tracking Based on Macro-Micro Robot. ROBOT, 2008, 30(6): 503-507,515..

摘要提出了一种基于宏微运动机器人的焊缝跟踪方法．首先，通过若干点的简单示教获得焊缝位置信息，并通过拟合建立焊缝模型．在该模型的基础上，对机器人的宏动进行运动规划．采用激光结构光视觉测量焊缝坐标，并根据焊缝图像偏差控制机器人的微动．结合机器人的宏动规划运动和微动自动调整，实现大范围、高精度的焊缝跟踪．利用宏微运动平台进行了焊缝跟踪实验，实验结果验证了所提出方法的有效性．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS

关键词 ：焊缝建模, 焊缝跟踪, 宏微运动, 运动规划, 协调运动, 机器人

Abstract：A new method based on macro-micro robot for weld seam tracking is presented.The positions of several teaching points on the weld seam are obtained via a simple teaching method,and the welding seam model is set up via fitting. Then the macro motion of the robot is planned according to the model.The coordinate of the weld seam is measured with a laser structured-light vision sensor,and the image error of the weld seam is employed to control the micro motion of the robot.With the combination of the planning macro motion and the adjusting micro motion,the welding seam tracking with high accuracy in large working range can be realized.A series of experiments are conducted with a macro-micro motion platform,and the experimental results demonstrate the validity of the proposed method.

Key words： weld seam modelling weld seam tracking macro-micro motion motion planning coordinated movement robot

收稿日期: 2008-03-14

ZTFLH:

TP24

基金资助:国家863计划资助项目（2006AA04Z213）

作者简介: 杨平（1983- ），男，博士生．研究领域：智能焊接，图像处理，运动控制．
徐德（1965- ），男，博士，研究员．研究领域：机器人控制，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．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2008/V30/I6/503

[1] 吴林,陈善本.智能化焊接技术[M].北京:国防工业出版社,2000.Wu Lin,Chert Shah-ben.Intelligent Technologies for Welding[M].Beijing:National Defense Indusuy Press.2000.
[2] Bolmsjo G,Olsson M,Cederberg P Robotic arc welding-Trends and developments for higher autonomy[J].Industrial Robot,2002,29(2):98～104.
[3] Khatib O.Reduced effective inertia in macro-/mini-manipulator systems[A].Proccedings of the Fifth International Symposium on Robotics Researcla[C].Cambridge,MA,USA:MIT Press,1990.279～284.
[4] Sharon A,Hogan N,Hardt D E.High bandwidth force regulation and inertia reduction using a macro/micro manipulator system[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1988.126～132.
[5] Salisbury J K,Abramowitz J D.Design and control of a redundant mechanism for small motion[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscaraway,NJ,USA:IEEE,1985.323～328.
[6] Yoshikawa T,Hosoda K,Doi T,et al.Quasi-static trajectory tracking control of flexible manipulator by macro-micro manipulator system[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1993.210～215.
[7] Yim W S,Singh S N.Trajectory control of flexible manipulator using macro-micro manipulator system[A].Proceedings of the 34th IEEE Conference on Decision and Control[C].Piscataway,NJ,USA:IEEE,1995.2841～2846.
[8] 祝世平,强锡富.工件特征点三维坐标视觉测量方法综述[J].光学精密工程,2000,8(2):192～197.Zhu Ski-ping,Qiang Xi-fu.Analyses of 3-D coordinate vision measuring methods with feature points on workoiece[J].Optics and Precision Engineering,2000,8(2):192～197.
[9] Xu D,Jiang Z M,Wang L K,et al.Features extraction for structured light image of welding seam with alc and splash disturbance[A].Proceedings of the International Conference on Control,Automation,Robodcs and Vision[C].Piseataway,NJ,USA:IEEE,2004.1559～1563.
[10] Xu D,Wang L K,Tan M.Image processing and visual control methodfor arc welding robot[A].Proceedings of the IEEE International Conference on Robotics and Biomimetics[C].Piscaraway,NJ,USA:IEEE,2004.727～732.
[11] Xu D,Tan M,Zhao X G,et al.Seam tracking and visual control for robotic arc welding based on struetured light stereovision[J].International Journal of Automation and Computing,2004,1(1):63～75.
[12] 马颂德,张正友.计算机视觉--计算理论与算法基础[M].北京:科学出版社,1998.Ma Song-de,Zhang Zheng-you.Computer Vision:Ftmdamentals of Computational Theory and Algorithms[M].Beijing:Science Press,1998.
[13] 王仁宏.数值逼近[M].北京:高等教育出版社,1999.Wang Ren-hong.Numerical Approximation[M].Beijing:Higher Education Press,1999.
[14] 谭民,徐德,侯增广,等.先进机器人控制[M].北京:高等教育出版社,2007.Tan Min,Xu De,Hou Zeng-guang,et al.Advanced Robot Control[M].Beijing:Higher Education Press,2007.