Research on Key Technology of Welding Robot Positioning System Based on Vision Feedback
In order to realize remote welding operation in complicated and dangerous environment and improve the automatic level of remote welding robot, the author has designed a set of welding robot positioning system based on vision feedback under special circumstances. Stereoscopic vision technology has been adopted to carry out task space analysis. The system will first calibrate the internal and external parameters of the camera and the hand-eye relation of the robot and then adopts stereoscopic vision technology to carry out task space analysis and stereoscopic reconstruction for the remote welding. Before arc striking, the robot remote welding task program will be generated first through image matching technology under the assistance of stereoscopic vision system. Then, the high-speed macro guidance in the free motion area and the lowspeed guidance positioning in the restricted motion area are carried out by manual control. Finally, the welding task can be completed through of on-the-spot vision assistance. The test shows that this system is capable of effectively perceive the features of the remote operational environment, thus laying foundation for the independent welding of welding robot.
Welding robot Stereoscopic vision Image matching
Qiao Xi Jiao Xiang Dong Huangsong Tao
Mechanical and Electrical Engineering Institute Beijing University of Chemical Technology Beijing, C College of Mechanical Engineering Beijing Institute of PetrochemicalTechnology
国际会议
2011 International Conference on Information and Industrial Electronics(2011年信息与工业电子国际会议 ICIIE 2011)
成都
英文
595-598
2011-01-14（万方平台首次上网日期，不代表论文的发表时间）