| 面向遥控焊接的焊缝模型建模技术 |
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| 引用本文： | 高胜,吴林,高洪明,李海超.面向遥控焊接的焊缝模型建模技术[J].焊接学报,2006,27(2):89-92. |
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| 作者姓名： | 高胜 吴林 高洪明 李海超 |
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| 作者单位： | 1. 大庆石油学院,机械科学与工程学院,黑龙江,大庆,163318;哈尔滨工业大学,现代焊接生产技术国家重点实验室,哈尔滨,150001
2. 哈尔滨工业大学,现代焊接生产技术国家重点实验室,哈尔滨,150001 |
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| 摘 要： | 采用安装在机器人手臂上的激光传感器感知信息对远端焊缝模型的动态建模问题进行了研究.通过引入虚拟向导的操作概念,操作者可以方便地实现远端焊缝扫描操作,并且具有很高的安全性;在焊缝断面特征数据处理上,采用模板匹配方法实现了焊缝断面特征的提取,并以"V"字形式进行统一描述;最后,基于参数三次样条曲线方程对离散的焊缝断面特征数据进行拟合,并在基于Java＆Java3D技术开发的虚拟环境中实现了连续焊缝模型的动态建模.
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| 关 键 词： | 机器人 遥控焊接 半结构化环境 焊缝 动态建模 |
| 文章编号： | 0253-360X（2006）02-89-04 |
| 收稿时间： | 2005-06-02 |
| 修稿时间： | 2005-06-02 |
Dynamic modeling of semi-structure environment of remote robotic welding |
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| GAO Sheng,WU Lin,GAO Hong-ming and LI Hai-chao.Dynamic modeling of semi-structure environment of remote robotic welding[J].Transactions of The China Welding Institution,2006,27(2):89-92. |
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| Authors: | GAO Sheng WU Lin GAO Hong-ming and LI Hai-chao |
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| Affiliation: | School of Mechanical Science and Engineering, Daqing Petroleum Institute, Heilongjiang Daqing 163318, China;National key Kaboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China,National key Kaboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China,National key Kaboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China and National key Kaboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | The dynamic modeling of remote weld was investigated based on the information acquired by laser sensor mounted on robet arm.The scanning path of a weld seam was constructed by introducing the concept of virtual guide,which can lower operative difficulties for the operator in master site and show high security.Template matching was used to recognize the weld seam,and an uniform "V" contour was defined to represent any section of the seam section.At last,cubic spline was employed to construct the continuous model of the seam.The above works were successfully accomplished in VE that was developed by using Java and Java3D,which provides a valuable reference for remote robotic welding. |
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| Keywords: | robot remote welding semi-structure environment weld seam dynamic modeling |
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