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	Seam tracking of articulated robot for laser welding based on visual feedback control
	Zhang, Wenzeng ; Chen, Qiang ; Zhang, Guoxian ; Sun, Zhenguo ; Du, Dong
	2010-05-10 ; 2010-05-10
会议名称	Robotic Welding, Intelligence and Automation ; International Conference on Robotic Welding, Intelligence and Automation ; Shanghai, PEOPLES R CHINA ; Web of Science
关键词	industrial robot visual feedback seam tracking trajectory accuracy Automation & Control Systems Computer Science, Information Systems
中文摘要	Laser welding has a quite high demand on trajectory accuracy of articulated robot. To improve dynamic trajectory accuracy of articulated robots for laser welding, a novel 3D seam tracking method is proposed based on stereo visual feedback control. The method constructs a visual feedback control system with two convergent cameras mounted at the end of industrial robot. A tool coordinate system is constructed to transfer the end-link displacement of robot to that of the tool. A proposed GPI transform method, binocular vision technologies and a modified algorithm of line-line matching are utilized to calculate the positions of laser focus and weld seam, which makes the dynamic trajectory error between laser focus and weld seam can be calculated. The robot is finally commanded to move and decrease the trajectory error as soon as possible based on robot kinematics. Experimental results show that the method can effectively improve the trajectory accuracy of industrial robot for laser welding.
会议录出版者	SPRINGER-VERLAG BERLIN ; BERLIN ; HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY
语种	英语 ; 英语
内容类型	会议论文
源URL	[http://hdl.handle.net/123456789/19104]
专题	清华大学
推荐引用方式 GB/T 7714	Zhang, Wenzeng,Chen, Qiang,Zhang, Guoxian,et al. Seam tracking of articulated robot for laser welding based on visual feedback control[C]. 见:Robotic Welding, Intelligence and Automation, International Conference on Robotic Welding, Intelligence and Automation, Shanghai, PEOPLES R CHINA, Web of Science.

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