Development of Integrated Arc-Welding System with Visual Faculty Based on Intelligent Utility of Production Information

本研究所开发的系统由焊接条件数据库和视觉系统、焊接机器人系统和装配机器人系统三个子系统组成。研究结果如下：1.采用“if-then”型语句表达模糊规则，有效地表达了焊接工艺知识。该模糊规则是在模糊空间中单独定义的，在模糊空间中将焊接试验数据划分成一个模糊集。由板材构成的作品的形状和装配部件之间的相互关系可以用plolog谓词来表达。说明该表达式适用于装配序列生成等知识处理.提出了一种新型的火炬位置搜索方法。该方法在由焊接位置x和机器人手臂姿态角reta表示的x-reta平面上搜索路径，从而很容易生成指定焊接姿态条件下的焊接顺序.阐明了利用由机器人原点与末端执行器之间的距离标准化的手部姿态图，可以容易地确定装配机器人的姿态和路径。利用新研制的狭缝激光扫描云纹图像和灰度图像同时成像的视觉系统。该视觉系统具有更宽的形状数据获取范围和更高的信息可靠性.对象形状的轮廓可以由每个表面形状表示，并且表面形状根据视觉方向粗略地改变。本研究利用基于曲面形状的数据结构实现了高速形状匹配。

The system developed in this research is consisted with the database of the welding condition and three sub-systems ; vision system, welding robot system and assembly robot system. The results are summarized as followings.1. The knowledge on the welding process is expressed efficiently by the fuzzy rule expressed by "if-then" type sentence. This fuzzy rule is defined individually in the fuzzy space where the experimental welding data is divided by putting into the form of a diagram.2. The shape and co-relation between assembly parts of the works constructed by plate works are able to express by the plolog predicate. It was clarified that this expression is fit for the knowledge processing such as generation of assembly sequence.3. New type path-searching method for decision of the torch position was proposed. In this method, the path is searched on x-rheta plane expressed by the welding position x and posture angle rheta of the robot arm. It was clarified that the sequence of the welding procedure under the condition of the appointed welding posture is generated easily.4. It was clarified that the posture and path of the assembly robot is decided easily by using the map of the hand posture standardized by the distance between the robot origine and the end-effector.5. The vision system using a new developed slit laser scanning moire image and a gray scale image at the same time was constructed. This vision system has wider obtaining range of the shape data and higher reliability of the obtained information.6. Outline of the object shape can be expressed by each surface shape, and the surface shape is scarecelly changed according to the visual direction. In this research, high-speed shape matching was realized by utilizing the data structure based on the surface shape.