Study of Robot Seam Tracking System with Laser Vision

被引：10
|
作者：
Liu Suyi [1 ]
Liu Lingteng [1 ]
Zhang Hua [1 ]
Bai Jianjun [1 ]
Wang Guorong [2 ]
机构：
[1] Nanchang Univ, Robot & Weld Automat Key Lab, Nanchang, Peoples R China
[2] South China Univ Technol, Sch Mech & Automot Engn, Guangzhou, Guangdong, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
关键词：
seam tracking; robo weldingt; laser vision; image processing; CAMERA CALIBRATION;
D O I：
10.1109/ICMA.2009.5246180
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Welding is developing to automatization and robotization, and robot welding is an important development direction. A robot real-time seam tracking system based on laser vision is researched, which includes laser vision sensing and seam image acquisition, seam images recognition and extraction, system coordinates calibration and transformation, communication between PC and robot, control for robot seam tracking, and robot seam tracking experiments. A way of image filtering is improved and four methods to recognize and extract seam images are studied. Lap-joint seam tracking experiments are performed to test the seam tracking system. Lap-joint groove experiment results show, corner detecting image recognition is satisfied with real-time seam tracking and has good precision and stability, and the whole system studied in the paper is satisfying for robot real-time seam tracking.
引用
收藏
页码：1296 / +
页数：2
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