| 旋转电弧传感器焊枪空间姿态识别 |
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| 引用本文： | 高延峰,张华,肖建华. 旋转电弧传感器焊枪空间姿态识别[J]. 焊接学报, 2009, 30(3): 81-84 |
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| 作者姓名： | 高延峰 张华 肖建华 |
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| 作者单位： | 南昌大学,机器人研究所,南昌,330031;南昌航空大学,南昌,330031;南昌大学,机器人研究所,南昌,330031;南昌航空大学,南昌,330031 |
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| 基金项目： | 国家高技术研究发展计划(863计划),江西省科技基金 |
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| 摘 要： | 旋转电弧传感器焊枪空间姿态识别主要包括焊枪偏差和焊枪倾角的识别,是实现焊缝跟踪和提高焊接质量的必要条件.首先建立了焊枪倾角和偏差变化与电弧长度变化的数学模型,在此基础上提出了特征平面焊枪空间姿态检测算法,该算法充分利用了旋转电弧传感器检测得到的三维信息,采用最小二乘方法构建特征平面,根据特征平面与坐标平面交线的斜率来检测焊枪的左右偏差和倾角.结果表明,将该算法用于焊枪倾角和左右偏差的检测,其倾角检测误差为±7.85°,偏差检测误差为±0.42 mm,满足实际焊接工程需要.
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| 关 键 词： | 旋转电弧传感器 平面拟合 焊枪姿态 |
| 收稿时间： | 2008-01-22 |
Identification of welding torch attitude based on rotational arc sensor |
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| GAO Yanfeng,ZHANG Hua and XIAO Jianhua. Identification of welding torch attitude based on rotational arc sensor[J]. Transactions of The China Welding Institution, 2009, 30(3): 81-84 |
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| Authors: | GAO Yanfeng ZHANG Hua XIAO Jianhua |
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| Affiliation: | 1.Robot Research Institute;Nanchang University;Nanchang 330031;China;2.Nanchang Hangkong University;China |
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| Abstract: | Welding torch attitude identification is the necessary condition to realize automatic welding seam tracking and improve welding quality,which includes the detection of welding torch deviation and inclination.First a mathematical model of arc length is built,and then the character plane method is presented. Based on the three-dimension information acquired by rotational arc sensor and the character plane built by least-square fitting method,the deviation and the inclination of welding torch are obtained thro... |
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| Keywords: | rotational arc sensor plane fitting welding torch attitude |
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