| 弧焊机器人焊缝的实时图象处理 |
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| 引用本文： | 陈强,郑德禄,JensDoerk.弧焊机器人焊缝的实时图象处理[J].清华大学学报(自然科学版),1996(4). |
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| 作者姓名： | 陈强 郑德禄 JensDoerk |
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| 作者单位： | 清华大学机械工程系!北京100084(陈强，郑德禄)，德国Aachen大学(JensDoerk) |
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| 摘 要： | 提出了一种在机器人电弧焊过程中进行轨迹跟踪的实时图象处理方法。焊缝图象由ＣＣＤ摄像系统摄取。通过图象采集系统和计算机软件处理，得到机器人的运动轨迹与实际焊缝之间的偏差，据此控制机器人运动进行实时跟踪。对于Ｖ型坡口和搭接接头，其可靠性达９７％以上。如果用多台摄像机同时处理焊缝图象，则可以检测出焊缝的三维信息。本算法的轨迹跟踪精度为 ０． ４ ｍｍ。可用于机器人运动轨迹的自动规划。
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| 关 键 词： | 机器人焊接 轨迹跟踪 图象处理 |
Real-time image processing for seam tracking control in robotic welding |
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| Chen Qiang, Zheng Delu, Jens Doerk.Real-time image processing for seam tracking control in robotic welding[J].Journal of Tsinghua University(Science and Technology),1996(4). |
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| Authors: | Chen Qiang Zheng Delu Jens Doerk |
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| Institution: | Chen Qiang, Zheng Delu, Jens Doerk Department of Mechanical Engineering,Tsinghua University Aachen University,Germany |
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| Abstract: | An approach of image processing for robotic welding with seam tracking control in the real time is presented. The seam image was picked up by CCD (Charge Coupled Device) camera, and then it was sampled and processed in a host computer with some special algorithms. The soft ware will calculate out the diviation between the welding line and the wire tip which is driven by the robot finger. As a result the computer will instruct the control circuit through an interface to adjust the trajectory of the robot movement in the real time. The experiments showed the tracking precision of the system was less than 0. 4 mm for the practical works. |
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| Keywords: | robotic welding seam tracking image processing |
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