An Efficient and Robust Complex Weld Seam Feature Point Extraction Method for Seam Tracking and Posture Adjustment | |
Yunkai Ma3; Junfeng Fan3; Huizhen Yang2; Hongliang Wang1; Shiyu Xing3; Fengshui Jing3; Min Tan3 | |
刊名 | IEEE Transactions on Industrial Informatics |
2023 | |
卷号 | 19期号:11页码:10704 - 10715 |
ISSN号 | 1941-0050 |
文献子类 | Research paper |
英文摘要 | To realize high-quality robotic welding, an efficient and robust complex weld seam feature point extraction method based on a deep neural network (ShuffleYOLO) is proposed for seam tracking and posture adjustment. The Shuffle-YOLO model can accurately extract the feature points of butt joints, lap joints, and irregular joints, and the model can also work well despite strong arc radiation and spatters. Based on the nearest neighbor algorithm and cubic B-spline curve-fitting algorithm, the position and posture models of the complex spatially curved weld seams are established. The robot welding posture adjustment and high-precision seam tracking of complex spatially curved weld seams are realized. Experiments show that the method proposed in this article can extract weld seam feature points quickly and robustly, which enables welding robots to accurately track the weld seams and adjust the welding torch postures simultaneously. |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/52453] |
专题 | 智能机器人系统研究 |
通讯作者 | Junfeng Fan |
作者单位 | 1.Yaskawa Shougang Robot Co., Ltd. 2.Northwestern Polytechnical University 3.Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Yunkai Ma,Junfeng Fan,Huizhen Yang,et al. An Efficient and Robust Complex Weld Seam Feature Point Extraction Method for Seam Tracking and Posture Adjustment[J]. IEEE Transactions on Industrial Informatics,2023,19(11):10704 - 10715. |
APA | Yunkai Ma.,Junfeng Fan.,Huizhen Yang.,Hongliang Wang.,Shiyu Xing.,...&Min Tan.(2023).An Efficient and Robust Complex Weld Seam Feature Point Extraction Method for Seam Tracking and Posture Adjustment.IEEE Transactions on Industrial Informatics,19(11),10704 - 10715. |
MLA | Yunkai Ma,et al."An Efficient and Robust Complex Weld Seam Feature Point Extraction Method for Seam Tracking and Posture Adjustment".IEEE Transactions on Industrial Informatics 19.11(2023):10704 - 10715. |
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