Robot welding seam tracking method based on passive vision for thin plate closed-gap butt welding
Robot welding seam tracking method based on passive vision for thin plate closed-gap butt welding
复制标题
基于被动视觉的薄板闭间隙对接焊机器人焊缝跟踪方法
DOI：
10.1007/s00170-009-2349-4
复制
发表时间：
2010-06-01
影响因子：
3.4
通讯作者：
Chen, Shanben
中科院分区：
文献类型：
--
作者：
Ma, Hongbo;Wei, Shanchun;Chen, Shanben
为脉冲气体钨极电弧焊教学回放焊接机器人增加了被动视觉传感器，该机器人通常用于薄板闭隙对接的焊接。本文提出了一种基于该传感器的焊缝跟踪方法，通过周期性视觉测量焊枪与焊缝中心之间的偏移量。提出了一种鲁棒图像处理算法来提取焊缝中心。研究了一种具有外源输入的自回归模型来描述整流电压与偏置之间的关系。在ARX模型的基础上，分析设计了考虑各种偏移量的模糊PID（比例-积分-导数）焊缝跟踪控制器。在直线焊缝上的实验结果表明，该方法具有良好的焊缝跟踪能力。
A passive vision sensor is added to a teaching and playback welding robot for pulsed gas tungsten arc welding, which is normally used in the welding of thin plate closed-gap butts. This paper presents a seam tracking method based on this sensor through period visual measurement of the offset between the torch and the seam center. A robust image processing algorithm is developed to extract the seam center. A kind of ARX(auto-regressive with exogenous input) model is studied to describe the relationship between the rectifying voltage and the offset. The fuzzy PID(proportional-integral-derivative) seam tracking controller is analyzed and designed in consideration of various offsets based on the ARX model. The experimental results on straight line weld display a good seam tracking capability of the proposed method.