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基于结构光的机器人弧焊混合视觉伺服控制

徐德 王麟琨 涂志国 谭民

徐德, 王麟琨, 涂志国, 谭民. 基于结构光的机器人弧焊混合视觉伺服控制. 自动化学报, 2005, 31(4): 596-605.
引用本文: 徐德, 王麟琨, 涂志国, 谭民. 基于结构光的机器人弧焊混合视觉伺服控制. 自动化学报, 2005, 31(4): 596-605.
XU De, WANG Lin-Kun, TU Zhi-Guo, TAN Min. Hybrid Visual Servoing Control for Robotic Arc Welding Based on Structured Light Vision. ACTA AUTOMATICA SINICA, 2005, 31(4): 596-605.
Citation: XU De, WANG Lin-Kun, TU Zhi-Guo, TAN Min. Hybrid Visual Servoing Control for Robotic Arc Welding Based on Structured Light Vision. ACTA AUTOMATICA SINICA, 2005, 31(4): 596-605.

基于结构光的机器人弧焊混合视觉伺服控制

详细信息
    通讯作者:

    徐德

Hybrid Visual Servoing Control for Robotic Arc Welding Based on Structured Light Vision

More Information
    Corresponding author: XU De
  • 摘要: A novel hybrid visual servoing control method based on structured light vision is proposed for robotic arc welding with a general six degrees of freedom robot. It consists of a position control inner-loop in Cartesian space and two outer-loops. One is position-based visual control in Cartesian space for moving in the direction of weld seam, i.e., weld seam tracking, another is image-based visual control in image space for adjustment to eliminate the errors in the process of tracking. A new Jacobian matrix from image space of the feature point on structured light stripe to Cartesian space is provided for differential movement of the end-effector. The control system model is simplified and its stability is discussed. An experiment of arc welding protected by gas CO_2 for verifying is well conducted.
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出版历程
  • 收稿日期:  2003-11-10
  • 修回日期:  2004-08-08
  • 刊出日期:  2005-07-20

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