| 飞机导管机器人焊接手眼关系标定 |
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| 引用本文： | 张宗郁,高洪明,韩庆璘,黄锐,荣建,王勇超.飞机导管机器人焊接手眼关系标定[J].上海交通大学学报,2015,49(3):392-394. |
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| 作者姓名： | 张宗郁 高洪明 韩庆璘 黄锐 荣建 王勇超 |
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| 作者单位： | （1.哈尔滨工业大学 先进焊接与连接国家重点实验室，哈尔滨 150001；2.中航工业成都飞机工业(集团)有限责任公司，成都 610092） |
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| 摘 要： | 摘要： 针对目前国内航空飞机导管焊接主要采用手工钨极氩弧焊的现状，提出了导管数字化焊接思路，对该系统中涉及的机器人手眼关系标定进行了研究.通过在META焊缝跟踪传感器安装距离处建立摄像机坐标系，利用一台三坐标仪完成了机器人的手眼关系标定.结果表明：此标定方法精度为±0.4 mm，满足飞机导管数字化焊接的要求.
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| 关 键 词： | 导管数字化焊接 手眼标定 三坐标仪 焊缝跟踪传感器 |
| 收稿时间： | 2014-05-20 |
Hand-Eye Calibration in Robot Welding of Aero Tube |
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| ZHANG Zong yu,GAO Hong ming,HAN Qing lin,HUANG Rui RONG Jian,WANG Yong chao.Hand-Eye Calibration in Robot Welding of Aero Tube[J].Journal of Shanghai Jiaotong University,2015,49(3):392-394. |
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| Authors: | ZHANG Zong yu GAO Hong ming HAN Qing lin HUANG Rui RONG Jian WANG Yong chao |
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| Institution: | (1. State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin 150001, China; 2. Aviation Industry Corporation of China, Chengdu Aircraft Industrial (Group) Co., Ltd., Chengdu 610092, China) |
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| Abstract: | Abstract： Based on the current domestic situation that the welding of aero tube is mainly the manual gas tungsten arc welding, a digital welding of aero tube was proposed. The hand-eye calibration of robot involved in the system was studied. By establishing the camera coordinate system in the installation distance of META seam tracking sensor, the hand eye calibration is completed using a three dimensional measuring machine. The results show that the calibration accuracy of this method is ±0.4 mm, which meets the requirement of the digital welding of aero tube. |
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| Keywords: | digital welding of aero tube hand-eye calibration three dimensional measuring machine seam tracking sensor |
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