An Autonomous Positioning Method of Tube-to-Tubesheet Welding Robot Based on Coordinate Transformation and Template Matching

被引：26

作者：

Cai, Junqiong ^{[1
]}

Lei, Ting ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Wuhan 430074, Peoples R China

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2021年 / 6卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Welding; Robots; Robot kinematics; Electron tubes; Calibration; Cameras; Visualization; Autonomous positioning; welding robot; coordinate transformation; template matching; SEAM TRACKING; CALIBRATION;

D O I：

10.1109/LRA.2021.3050741

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In order to change the positioning method "teach-playback" for tube-to-tubesheet welding by robots, this letter proposes an autonomous positioning method based on coordinate transformation and template matching. The coordinate trans-formation between the robot coordinate system (RCS) and the drawing coordinate system (DCS) has been established. The CCD camera will move to the position of target tube by the coordinate transformation of robot. This is coarse positioning. An improved template matching algorithm is used in machine vision. It can automatically create a template for each image instead of using a template to match the images of all the tubes. The welding torch will accurately locate the target tube by the result of template match. This is fine positioning. Finally, the comparative test showed that the proposed method is superior to the method of Ref [27]. The detection errors in x and y directions are within +/- 0.18 mm.

引用

页码：787 / 794

页数：8

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