Knowledge Commons of Institute of Automation,CAS
A Novel 3-D Path Extraction Method for Arc Welding Robot Based on Stereo Structured Light Sensor | |
Lei,yang; En,li; Teng,long; Junfeng,fan; Zize,liang | |
发表期刊 | IEEE Sensors Journal |
2018 | |
卷号 | 19期号:2页码:763 - 773 |
摘要 | With the rapid development of computer vision and industrial technology, the requirements of the intelligent welding robots are increasing in the real industrial production. The traditional teaching-playback mode and the off-line programming mode cannot meet the automation demand and self-adaptive ability of welding robots. In order to improve the efficiency of welding robots, this paper proposes a novel 3-D path extraction method of weld seams based on a stereo-structured light sensor. Faced with the low efficiency of the line-structured light and the poor robustness of passive vision, the seam extraction based on a point cloud processing algorithm is proposed which could well adapt to the weld seams with different types and different groove sizes. Meanwhile, the position information and pose information of weld seam are established to serve 3-D path teaching of a welding robot. The experimental results show that the maximum path extraction error of V-type butt joint is less than 0.7 mm. The proposed scheme could well serve for the 3-D path teaching task before welding. |
关键词 | Path Teaching, Stereo Structured Light, Welding Robot, 3d Reconstruction, Seam Extraction, Path Model. |
收录类别 | SCIE |
语种 | 英语 |
WOS记录号 | WOS:000454253900040 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23507 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | En,li |
作者单位 | 1.Institute of Automation Chinese Academy of Sciences Beijing,University of Chinese Academy of Sciences Beijing 2.Institute of Automation Chinese Academy of Sciences Beijing 3.Institute of Automation Chinese Academy of Sciences Beijing,University of Chinese Academy of Sciences Beijing 4.Institute of Automation Chinese Academy of Sciences Beijing,University of Chinese Academy of Sciences Beijing 5.Institute of Automation Chinese Academy of Sciences Beijing |
推荐引用方式 GB/T 7714 | Lei,yang,En,li,Teng,long,et al. A Novel 3-D Path Extraction Method for Arc Welding Robot Based on Stereo Structured Light Sensor[J]. IEEE Sensors Journal,2018,19(2):763 - 773. |
APA | Lei,yang,En,li,Teng,long,Junfeng,fan,&Zize,liang.(2018).A Novel 3-D Path Extraction Method for Arc Welding Robot Based on Stereo Structured Light Sensor.IEEE Sensors Journal,19(2),763 - 773. |
MLA | Lei,yang,et al."A Novel 3-D Path Extraction Method for Arc Welding Robot Based on Stereo Structured Light Sensor".IEEE Sensors Journal 19.2(2018):763 - 773. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Novel 3-D Path Ext(6208KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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