摘要
针对传统现场示教型的焊接机器人线结构光视觉传感器的应用缺点,旨在通过离线编程技术进行解决.首先对传感器离线编程系统进行了架构设计,其次根据传感器的成像原理开发了仿真传感器的自动建模技术,并进一步讨论了针对焊接仿真对象进行特征轮廓的提取,最后介绍了如何将编程结果应用于实际的焊接特征识别,分别对复杂结构件的焊缝跟踪和焊缝起始点搜索任务进行了试验.结果表明,该系统对提升线结构光视觉传感技术在机器人焊接中的适用性和自动化程度具有显著的促进.
To overcome the drawbacks of triditional structured-light sensor for field-teaching welding robot,off-line programming technique for virtual sensor is introduced.Firstly,the system architecture is designed,then the simulated sensor auto-modeling function is developped,the featured stripe profile for welding object is extracted based on the imaging principle of sensor in virtual scene,and at last actual featured profile recognition by using the programming result is discussed.Experiments on complex weld seam tracking and initial welding point search for strcutured component are executed,and results show the system can enhance the applicability and automation of structured-light sensors in robotic welding.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2011年第4期17-20,113-114,共4页
Transactions of The China Welding Institution
基金
江苏省科技成果转化资助项目(BA2007058)
关键词
仿真传感器
结构光视觉
离线编程
焊接机器人
simulated sensors
structured-light vision
off-line programming
welding robot
