CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
An automated weld seam tracking system for thick plate using cross mark structured light
Kiddee, Prasarn; Fang, Zaojun; Tan, Min
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
2016-12-01
Volume87Issue:9-12Pages:3589-3603
SubtypeArticle
AbstractThis paper presents a weld seam tracking system using cross mark structured light. The hardware of the proposed system consists of a two degrees of freedom (DOF) welding robot, a camera with cross mark structured light, and two computers. The system has two parts namely visual sensing and motion control. In the visual sensing part, the cross mark of the structured light is utilized to set a region of interest (ROI). In the ROI, an adapted line fitting algorithm is employed to estimate the lines. Then, intersections of the lines are computed and used as the pin points for templates creating. During the matching process, a modified template matching is used to detect the edges of V-groove weld seam. By using this technique, a huge computational cost in image processing can be reduced, and therefore the tracking can be made in real time. The position based visual servoing with proportional-derivative(PD) and velocity feedback controller is designed for seam tracking. The experimental results show that the proposed method performs the real-time tracking efficiently with sufficient accuracy.
KeywordStructured Light Self-creating Template Modified Template Matching Seam Tracking Control
WOS HeadingsScience & Technology ; Technology
DOI10.1007/s00170-016-8729-7
WOS KeywordFEEDBACK-CONTROL ; VISION ; ROBOT ; POSITION
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61305024 ; Beijing Natural Science Foundation(3141002) ; 61273337 ; 61227804 ; 61333016)
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing
WOS IDWOS:000388988300097
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13366
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Kiddee, Prasarn,Fang, Zaojun,Tan, Min. An automated weld seam tracking system for thick plate using cross mark structured light[J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,2016,87(9-12):3589-3603.
APA Kiddee, Prasarn,Fang, Zaojun,&Tan, Min.(2016).An automated weld seam tracking system for thick plate using cross mark structured light.INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,87(9-12),3589-3603.
MLA Kiddee, Prasarn,et al."An automated weld seam tracking system for thick plate using cross mark structured light".INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 87.9-12(2016):3589-3603.
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