An automated weld seam tracking system for thick plate using cross mark structured light
Kiddee, Prasarn; Fang, Zaojun; Tan, Min
2016-12-01
发表期刊INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
卷号87期号:9-12页码:3589-3603
文章类型Article
摘要This 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.
关键词Structured Light Self-creating Template Modified Template Matching Seam Tracking Control
WOS标题词Science & Technology ; Technology
DOI10.1007/s00170-016-8729-7
关键词[WOS]FEEDBACK-CONTROL ; VISION ; ROBOT ; POSITION
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61305024 ; Beijing Natural Science Foundation(3141002) ; 61273337 ; 61227804 ; 61333016)
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing
WOS记录号WOS:000388988300097
引用统计
被引频次:14[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/13366
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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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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