Hand-eye calibration in robot welding of aero tube

被引：0

作者：

Zhang, Zong-Yu ^{[1
]}

Gao, Hong-Ming ^{[1
]}

Han, Qing-Lin ^{[1
]}

Huang, Rui ^{[2
]}

Rong, Jian ^{[2
]}

Wang, Yong-Chao ^{[2
]}

机构：

[1] State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin

[2] Aviation Industry Corporation of China, Chengdu Aircraft Industrial (Group) Co., Ltd., Chengdu

来源：

Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2015年 / 49卷 / 03期

关键词：

Digital welding of aero tube; Hand-eye calibration; Seam tracking sensor; Three dimensional measuring machine;

D O I：

10.16183/j.cnki.jsjtu.2015.03.025

中图分类号：

学科分类号：

摘要：

Based on the current domestic situation that the welding of aero tube is mainly the manual gas tungsten arc welding, a digital welding of aero tube was proposed. The hand-eye calibration of robot involved in the system was studied. By establishing the camera coordinate system in the installation distance of META seam tracking sensor, the hand-eye calibration is completed using a three dimensional measuring machine. The results show that the calibration accuracy of this method is ±0.4 mm, which meets the requirement of the digital welding of aero tube. ©, 2015, Shanghai Jiao Tong University. All right reserved.

引用

页码：392 / 394and401

共 3 条

[1] Li G.-J., Lan Y., Sun L., Et al., Application of flexible combine-clamp in digital rapid production for aircraft tube, Aeronautical Manufacturing Technology, 9, pp. 58-61, (2012)
[2] Motai Y., Kosaka A., Hand-eye calibration applied to viewpoint selection for robotic vision, Industrial Electronics, IEEE Transactions on, 55, 10, pp. 3731-3741, (2008)
[3] Zhao Z., Hand-eye calibration using convex optimization, Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp. 2947-2952, (2011)

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