基于示教与视觉纠偏的机器人自动焊接方法研究

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

鄢治国^1,2,
徐德¹,
李原³,
谭民¹

1.
中国科学院自动化研究所复杂系统与智能科学实验室,北京,100080
2.
中国科学院研究生院,北京,100049
3.
北京理工大学信息科学技术学院,北京,100081

详细信息

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．

中图分类号: TP24
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出版历程
- 收稿日期: 2006-05-28
- 发布日期: 2007-05-14

Automated Robotic Welding Based on Teaching and Visual Correction

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

摘要

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．
- 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.
- vision sensor /
- image processing /
- weld seam tracking

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参考文献(11)

[1]	毛鹏军,黄石生,薛家祥,等.弧焊机器人焊缝跟踪系统研究现状及发展趋势[J].电焊机,2001,31(10):9-12,22.
[2]	Morgan C G,Bromley J S E,Davey P G.Visual guidance techniques for robot arc welding[A].Proceedings of the SPIE-Intelligent Robots:3rd International Conference on Robot Vision and Sensory Controls(vol.449)[C].USA:SPIE,1983.615-619.
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[4]	Xu D,Jiang Z M,Wang L K,et al.Features extraction for structured light image of weld seam with arc and splash disturbance[A].Proceedings of the 8th International Conference on Control,Automation,Robotics and Vision[C].New York,NY,USA:IEEE,2004.1559-1563.
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[6]	徐德,赵晓光,涂志国,等.基于结构光立体视觉的焊缝测量[J].焊接学报,2004,25(5):45-48,52.
[7]	Li Y,Middle J E,Weldl S M.Machine vision analysis of welding region and its application to seam tracking in arc welding[J].Proceedings of the Institution of Mechanical Engineers,Part B:Journal of Engineering Manufacture,1993,207(4):275-283.
[8]	Nayak N,Thompson D,Ray A,et al.Conceptual development of an adaptive real-time seam tracker for welding automation[A].Proceedings of 1987 IEEE International Conference on Robotics and Automation[C].New York,NY,USA:IEEE,1987.1019-1024.
[9]	Kim J S,Son Y T,Cho H S,et al.Robust method for vision-based seam tracking in robotic arc welding[A].Proceedings of the 1995 IEEE International Symposium on Intelligent Control[C].New York,NY,USA:IEEE,1995.363-368.
[10]	Zhang H,Ding X L,Chen M H,et al.The seam tracking system for submerged arc welding[A].Proceedings of Robotic Welding,Intelligence and Automation,LNCIS[C].Berlin,Germany:Springer-Verlag,2004,299.144-151.
[11]	李原,徐德,李涛,等.一种基于激光结构光的焊缝跟踪视觉传感器[J].传感技术学报,2005,18(3):488-492.

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文章访问数: 51
HTML全文浏览量: 1572
PDF下载量: 389
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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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出版历程

Automated Robotic Welding Based on Teaching and Visual Correction

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出版历程

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