| 基于激光跟踪的管道焊接机器人跟踪算法研究 |
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| 引用本文： | 崔卫韬,曹莹瑜,黄军芬,黄继强.基于激光跟踪的管道焊接机器人跟踪算法研究[J].北京石油化工学院学报,2010,18(1):9-13. |
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| 作者姓名： | 崔卫韬 曹莹瑜 黄军芬 黄继强 |
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| 作者单位： | 北京石油化工学院化学工程系,北京,102617;北京石油化工学院化学工程系,北京,102617;北京石油化工学院化学工程系,北京,102617;北京石油化工学院化学工程系,北京,102617 |
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| 基金项目： | 国家863计划资助项目;项目号:2009AA04Z208 |
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| 摘 要： | 研究并提出了基于激光跟踪的管道焊接机器人跟踪算法，介绍了基于激光跟踪的焊缝跟踪技术的优点，对焊缝自动跟踪过程以及该过程中前置传感滞后跟踪、实时跟踪算法等关键技术问题进行了深入探讨。管道焊接机器人的工艺试验表明：该算法可有效提高基于激光跟踪的管道焊接机器人跟踪精度。
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| 关 键 词： | 激光跟踪 管道焊接机器人 前置传感 |
Research on Automatic Tracking Algorithm of the Pipeline Welding Robot Based on Laser Seam Tracking |
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| Cui Weitao,Cao Yingyu,Huang Junfen,Huang Jiqing.Research on Automatic Tracking Algorithm of the Pipeline Welding Robot Based on Laser Seam Tracking[J].Journal of Beijing Institute of Petro-Chemical Technology,2010,18(1):9-13. |
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| Authors: | Cui Weitao Cao Yingyu Huang Junfen Huang Jiqing |
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| Affiliation: | Cui Weitao Cao Yingyu Huang Junfen Huang Jiqing(Beijing Institute of Petro-chemical Technology,Beijing 102617,China) |
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| Abstract: | The automatic tracking algorithm of the pipeline welding robot based on laser seam tracking is developed in this paper.The advantages of the laser seam tracking are introduced.And we discussed the key technical problems in the automatic seam tracking process,such as detecting ahead and tracking behind,and the problems in real-time control algorithm.The test of the pipeline welding robot shows that the algorithm can improve the tracking accuracy of automatic welding. |
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| Keywords: | laser seam tracking pipeline welding robot detecting ahead |
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