CASIA OpenIR  > 毕业生  > 硕士学位论文
Thesis Advisor景奉水
Degree Grantor中国科学院大学
Place of Conferral北京
Degree Discipline控制理论与控制工程
Keyword焊接机器人 示教器 点云 机器人操作系统(ros) 路径点生成
Other AbstractAfter decades of rapid development, industrial robots have realized hi-precision servo control. But the most widely used industrial robots in the factory still need human operator using a teaching pendant to program the robot, which is a time-consuming and tired work. Most industrial robots are lack of perception of the environment, cannot decide what to do, still far from being called intelligent.
A new robot teaching system aiming at industrial robot’s arc welding task is developed in this paper, hoping to ease the workload of robot programmer. By installing an RGB-D depth camera at the end of robot, an upper computer can obtain the point cloud of work environment. This upper computer is used to extract the path points, which is sent it to controller and teach pendant, from point cloud. The operators may modify these path points by teach pendant and generate a robot program. The main content of this paper as follow:
1) This paper summarized the development situation of industrial robot and research status of teach pendant. We analyzed the mathematic model of robot programming and basic principle of the sensor, and proposed a new teaching system solution.
2) The algorithm of extracting path points from point cloud is proposed. Including  procedures like separating 2D image in 3D point cloud, setting ROI and filter, extracting the edge of welding line and find path points after intensifying the detail of the welding line and other image process, obtaining the 3D coordinate from 3D point cloud and calculate the pose of path points and so on.
3) This paper proposed the architecture of the software and developed the software. Aiming to the need of teach pendant communicating with upper computer, a communication interface to upper computer is added.
4) Conducted experiments which are implemented with Python in Robot Operating System (ROS) to verify the accuracy of the algorithm which generate path points from point cloud. Finally, summarized the full text and gives the prospect for further work.
Document Type学位论文
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
李婧. 基于RGB-D传感器的新型弧焊机器人示教系统[D]. 北京. 中国科学院大学,2016.
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基于RGB-D传感器的新型弧焊机器人示教(5037KB)学位论文 限制开放CC BY-NC-SA
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