摘要
提出了机器人结构光视觉三点焊缝定位技术，使弧焊机器人可以适应批量生产中每次焊缝位置的变化，通过适当的数学描述，将焊缝定位问题转化为确定位姿变换矩阵。给出了三点焊缝定位法的求解过程，具有良好的理论可靠性。利用结构光视觉传感器获取焊缝位置信息。
A technique of 3-point localization of weld seams with structure-light visual sensor is presented. With this technique, arc welding robots can cope with the location variation of weld seams each time in batched manufacturing. On the base of suitable mathematical discription, the localization problem is transformed into determining a displacement transformation matrix. The solving process of 3-point localization method with good reliability in theory is given. Structure-light visual sensor is used to get postition information of weld seams, and precise localization of weld seams is realized quickly.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
1997年第3期188-191,共4页
Transactions of The China Welding Institution
基金
航天工业总公司"八五"计划预研项目
关键词
焊缝
定位
弧焊机器人
位姿变换矩阵
传感器
localization of weld seams, structure-light vision, arc welding robot, displacement transformation matrix
