Automatic Teaching of Welding Robot for 3-Dimensional Seam Based on Ant Colony Optimization Algorithm
The research work of this paper concentrates on 3dimensional seam detection based on stereovision technique and the optimal control of weld torch attitude based on ant colony optimization algorithm during the automatic teaching of welding robot. A binocular stereovision system with a small linear laser emitter is designed to detect seam position and its orientation, and an ant colony optimization algorithm based on the discretization of the angle increment of robot joint is presented and a pheromone updating strategy is proposed. For the computation of weld torch attitude, the coordinate transformation matrices of a welding robot with 6 degrees-of freedom are given. The experimental results for curvilinear seams and saddle-shaped seams show that the automatic teaching of welding robot can be successfully completed based on ant colony optimization algorithem using the 3dimensional seam data acquired by stereovision detection, and the welding trajectory generated by the proposed method has higher accuracy compared with conventional proportionalintegral differential controller and fuzzy controller.
stereovision automatic teaching welding robot ant colony optimization
Li He-xi Shi Yong-hua Wang Guo-rong Li He-xi Zheng Xiao-xi
College of Mechanical and Automotive Engineering South China University of Technology Guangzhou, Gua College of Information Engineering Wuyi University Jiangrnen, Guangdong province, China
国际会议
长沙
英文
2324-2328
2009-10-10（万方平台首次上网日期，不代表论文的发表时间）