A method of initial welding position guiding for arc welding robot based on visual servo control

被引：1

作者：

郭振民

陈善本

邱涛

吴林

机构：

[1] College of Mechanical Engineering

[2] Harbin Institute of Technology

[3] Shanghai Jiaotong University

[4] State Key Laboratory of Advanced Welding Production Technology

[5] University of Shanghai for Science and Technology

[6] Institute of Welding Technology

来源：

China Welding | 2003年 / 01期

关键词：

visual servo; initial welding position; without calibration; image Jacobian;

D O I：

暂无

中图分类号：

TG409 [焊接自动化技术];

学科分类号：

080201 ; 080503 ;

摘要：

In order to solve the visual guiding task of initial welding position for arc welding robot, this paper presents a practice prone image based visual servo control strategy without calibration, and we perform validating experiments on a nine DOF arc welding robot system. Experimental results illustrate presented method has the function to fulfill the task of welding robot initial positioning with certain anti jamming ability. This method provides a basis for guiding welding gun to initial welding pose with real typical seam’s image properties to replace flag block properties, and is a significant exploit to realize visual guiding of initial welding position and seam tracing in robot welding system.

引用

页码：31 / 35

页数：5

共 3 条

[1] Vision-aided robotic welding: an approach and a flexible implementation. Agapakis J E,Katz J M,Friedman J M,et al. International Journal of Robotics Research . 1990
[2] Dynamic sensorbased control of robots with visual feedback. Weiss L E,Sanderson A C,Neumann C P. IEEE Journal of Robotics and Automation . 1987
[3] Visual tracking of a moving target by a camera mounted on a robot: a combination of control and vision. Papanikolopoulos N P,Khosla P K,Kanade T. IEEE Transactions on Robotics and Automation . 1993

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