| Path Planning of Planar Kinked Line Seam by Visual Servoing for Robotic Welding |
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| 作者姓名： | 周律 林涛 陈善本 |
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| 作者单位： | Inst. of Welding Technology Shanghai Jiaotong Univ.，Inst. of Welding Technology Shanghai Jiaotong Univ.，Inst. of Welding Technology Shanghai Jiaotong Univ.，Shanghai 200030 China，Shanghai 200030 China，Shanghai 200030 China |
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| 摘 要： | Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, the seam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.
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| 关 键 词： | 焊接自动化技术 机器人 视觉伺服积分器 扭结线 |
Path Planning of Planar Visual Servoing for Kinked Line Seam by Robotic Welding |
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| Abstract: | Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, the seam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution. |
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| Keywords: | robotic welding path planning visual servoing kinked line |
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