Autonomous Acquisition of Seam Coordinates for Arc Welding Robot Based on Visual Servoing
Autonomous Acquisition of Seam Coordinates for Arc Welding Robot Based on Visual Servoing
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DOI：
10.1007/s10846-006-9078-9
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发表时间：
2006-11
影响因子：
3.3
通讯作者：
L. Zhou;T. Lin;Shanben Chen
中科院分区：
文献类型：
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作者：
L. Zhou;T. Lin;Shanben Chen
焊缝坐标自主获取是开发先进焊接机器人的关键技术。本文描述了一种用于机器人焊缝跟踪的基于位置的视觉伺服系统，该系统能够自主获取机器人基架中平面对接接头的焊缝坐标，并在焊接前规划最佳相机角度。该系统采用六轴工业机器人，具有与上位机通信的接口。简要介绍了所开发的视觉传感器设备，该设备允许电荷耦合器件（CCD）相机围绕手电筒旋转。提出了一套鲁棒的图像处理算法，使得该系统对光源没有特殊要求。根据焊缝图像的特点定义了该伺服系统的反馈误差，并开发了鲁棒跟踪控制器。图像处理程序和跟踪控制程序均在主控计算机上运行。直线焊缝和曲线焊缝的实验结果表明，该方法获取的焊缝坐标精度更能满足高质量焊接工艺的需要。
Autonomous acquisition of seam coordinates is a key technology for developing advanced welding robot. This paper describes a position-based visual servo system for robotic seam tracking, which is able to autonomously acquire the seam coordinates of the planar butt joint in the robot base frame and plan the optimal camera angle before welding. A six-axis industrial robot is used in this system, which has an interface for communicating with the master computer. The developed visual sensor device is briefly presented that allows the charge-coupled device (CCD) cameras to rotate about the torch. A set of robust image processing algorithms are proposed so that no special requirements of light source are needed in this system. The feedback errors of this servo system are defined according to the characteristics of the seam image, and the robust tracking controller is developed. Both the image processing program and tracking control program run on the master computer. The experimental results on straight line seam and curve seam show that the accuracy of the seam coordinates acquired with this method is more adequate for high quality welding process.