期刊文献+

基于三维视觉的焊接机器人轨迹跟踪 被引量:18

3-D vision-based trajectory tracking of welding robots
原文传递
导出
摘要 为改善激光焊接机器人的运动轨迹精度,提出一种基于视觉的机器人轨迹跟踪控制方法。该方法将摄像机安装于工业机器人末端构成视觉反馈的控制系统,采用阈值分割方法检测出激光焦点,利用灰度投影积分方法快速检测出焊缝线,然后以修正的线-线匹配和立体视觉技术计算出激光焦点和焊缝线的空间位置,得到激光焦点相对于焊缝线的误差,再结合机器人运动学原理控制机器人实时运动以消除此误差。实验结果表明该方法能够有效提高机器人轨迹精度。 The trajectory accuracy of laser welding robots is improved by a robot trajectory tracking method using a robot control system based on visual feedback through two cameras mounted on the end of an industrial robot. A threshold segmentation method is used to find the laser focus and a gray projecting integral method is used to quickly detect weld seam. Then a modified line-line matching method and stereo vision technologies are used to calculate the laser focus and weld seam positions and the error between the laser focus and the weld seam. The robot then moves to reduce the error as soon as possible based on the robot kinematics. Test results show that the method effectively improves the trajectory accuracy of industrial robots.
出处 《清华大学学报(自然科学版)》 EI CAS CSCD 北大核心 2007年第8期1270-1273,共4页 Journal of Tsinghua University(Science and Technology)
基金 国家自然科学基金资助项目(50275083) 高等学校博士学科点专项科研基金项目(20020003053)
关键词 机器人技术 工业机器人 轨迹精度 视觉反馈 robot technology industrial robot trajectory accuracy visual feedback
  • 相关文献

参考文献5

  • 1Mana Saedan,Marcelo H.3D vision-based control on an industrial robot[C] // Proc of IASTED Intel Conf on Robotics and Applications.Florida,USA.2001:152-157.
  • 2汪建华,赵晓光,谭民.一种5自由度视觉伺服机器人的跟踪控制研究[J].机器人,2005,27(3):215-219. 被引量:6
  • 3Mezouar Y,Chaumette F.Path planning for robust image-based control[J].IEEE Trans on Robotics and Automation,2002,18(4):534-549.
  • 4张文增,陈强,都东,孙振国.直线检测的灰度投影积分方法[J].清华大学学报(自然科学版),2005,45(11):1446-1449. 被引量:22
  • 5Shiu Y C,Ahmad S.Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX = XB[J].IEEE Trans on Robotics and Automation,1989,5(1):16-27.

二级参考文献13

  • 1Suh H, Kim T W, Heu S, et al. Visual servoing by a fuzzy reasoning method[A]. Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems[ C ]. Osaka, Japan: IEEE,1991 , vol. 1. 111 -116.
  • 2Maru N, Kase H, Yamada S, et al. Manipulator control by visual servoing with the stereo vision[ A]. Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems[ C].Yokohama, Japan: IEEE, 1993, vol. 3. 1866 - 1870.
  • 3Maniere E C, Couvignou P, Khosla P K. Robotic contour following based on visual servoing[ A]. Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems[ C]. Yokohama, Japan: IEEE, 1993, vol. 2. 716-722.
  • 4Malis E, Chaumette F, Boudet S. 21/2D visual servoing[J]. IEEE Transactions on Robotics and Automation, 1999, 15(2): 238 -250.
  • 5Senoo T, Namiki A, Ishikawa M. High-speed batting using a multijointed manipulator[ A]. Proceedings of the 2004 IEEE International Conference on Robotics and Automation [ C ]. New Orleans, LA:IEEE, 2004. 1191 -1196.
  • 6Piepmeier J A, McMurray G V, Lipkin H. Uncalibrated dynamic visual servoing[ J ]. IEEE Transactions on Robotics and Automation,2004, 20(1): 143 -147.
  • 7Cindy X, Collange F, et al. Object tracking with a pan-tilt-zoom camera: application to car driving assistance[ A]. Proceedings of the 2001 IEEE International Conference on Robotics and Automation[ C]. Seoul, Korea: IEEE, 2001 , vol. 2. 1653 - 1658.
  • 8Jain R, Kasturi R, Schunck B G. Machine Vision [M]. New York:McGraw-Hill Inc, 1995.
  • 9章毓晋.图像工程-图像处理与分析 [M].北京:清华大学出版社,1999..
  • 10Canny J F. A computational approach to edge detection [J]. IEEE Trans Pattern Analysis and Machine Intelligence, 1986, 8(6):679-698.

共引文献26

同被引文献186

引证文献18

二级引证文献98

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部