| 集成虚拟结构光传感器的焊接机器人离线编程技术 |
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| 引用本文： | 龚烨飞,李新德,戴先中,程祥根.集成虚拟结构光传感器的焊接机器人离线编程技术[J].焊接学报,2011,32(4):17-20. |
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| 作者姓名： | 龚烨飞 李新德 戴先中 程祥根 |
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| 作者单位： | 东南大学复杂工程系统测量与控制教育部重点试验室,南京,210096 |
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| 基金项目： | 江苏省科技成果转化资助项目 |
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| 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...
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| 关 键 词： | 仿真传感器 结构光视觉 离线编程 焊接机器人 |
| 收稿时间： | 2009/11/27 0:00:00 |
A weld robot off-line programming system integrated with virtual structured-light sensor |
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| GONG Yefei,LI Xinde,DAI Xianzhong and CHENG Xianggen.A weld robot off-line programming system integrated with virtual structured-light sensor[J].Transactions of The China Welding Institution,2011,32(4):17-20. |
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| Authors: | GONG Yefei LI Xinde DAI Xianzhong and CHENG Xianggen |
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| Affiliation: | Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China,Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China,Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China and Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China |
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| Abstract: | 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. |
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| Keywords: | simulated sensors structured-light vision off-line programming welding robot |
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