摘要
提出了用于遥控焊接的激光视觉传感辅助遥控示教技术。克服了基于立体视觉显示遥控示教的缺点,操作者工作强度减轻。通过激光视觉传感提取焊缝特征点作为示教点,提高了识别精度。空间鼠标作为远端焊接机器人的手控器,提高了操作的灵活性。实现了对平面曲线焊缝和复杂空间焊缝的遥控示教。结果表明,此技术可以大大减少操作者的示教时间;示教路径精确;焊接过程自动执行,避免了远程操作的时间延迟影响,对遥控焊接在实际工程的应用有较高的价值。
Laser vision sensing assisting teleteaching technology (LSAT), which was used in remote welding, was presented. The technology overcame the drawback of teleteaching assisted by stereoscopic vision display and relieved the payload of human operator. Welding seam feature point was extraced by laser vision sensing that enhanced the precision of seam identification in teleteaching. Space mouse acted as the hand controller in teleoperation to increase the performance capability. The experiment results illustrated that the technology can decrease the teleteaching time and enhance the capability of adapting environment. Accurate welding path and automatic welding process avoid time-delay for the long distance teleoperation. The LSAT has practical value for remote welding.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2006年第5期39-42,共4页
Transactions of The China Welding Institution
基金
总装备部"十.五"规划项目(41318.5.1.2)
