CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
An Initial Point Alignment and Seam-Tracking System for Narrow Weld
Fan, Junfeng1,2; Deng, Sai1,2; Jing, Fengshui1,2; Zhou, Chou1,2; Yang, Lei1,2; Long, Teng1,2; Tan, Min1,2
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203
2020-02-01
Volume16Issue:2Pages:877-886
Corresponding AuthorJing, Fengshui(fengshui.jing@ia.ac.cn)
Abstract

Recently, laser vision sensors are widely applied in initial point alignment and seam tracking to improve the level of intelligent welding because of good characteristics. However, since the deformation of laser stripe is unobvious at the narrow weld with 0.2 mm width, these methods are not applicable for the narrow weld. Moreover, there are rare researches that could achieve initial point alignment and seam tracking of narrow weld simultaneously. Therefore, an initial point alignment and seam tracking system for narrow weld is proposed in this paper. At first, a laser vision sensor with extra light emitting diode light is used to obtain laser and weld seam image. Besides, the seam feature point is extracted and three-dimensional coordinates can be obtained with vision model. In addition, three controllers including decision controller, initial point alignment controller, and seam-tracking controller are proposed to achieve initial point alignment and seam tracking control in X- and Z-axis directions. Moreover, feature verification, Kalman filter, and output pulse verification are designed to improve the accuracy and stability of this system. Finally, many initial point alignment and seam-tracking experiments of narrow weld are conducted. Experimental results demonstrate that proposed system can well achieve initial point alignment and seam tracking of planar and curved surface narrow weld.

KeywordInitial point alignment laser vision sensor narrow weld robot welding seam tracking
DOI10.1109/TII.2019.2919658
WOS KeywordBUTT SEAMS ; SENSOR ; JOINT
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[U1813208] ; National Natural Science Foundation of China[61573358]
Funding OrganizationNational Natural Science Foundation of China
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS IDWOS:000521337000014
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/38798
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorJing, Fengshui
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Fan, Junfeng,Deng, Sai,Jing, Fengshui,et al. An Initial Point Alignment and Seam-Tracking System for Narrow Weld[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2020,16(2):877-886.
APA Fan, Junfeng.,Deng, Sai.,Jing, Fengshui.,Zhou, Chou.,Yang, Lei.,...&Tan, Min.(2020).An Initial Point Alignment and Seam-Tracking System for Narrow Weld.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,16(2),877-886.
MLA Fan, Junfeng,et al."An Initial Point Alignment and Seam-Tracking System for Narrow Weld".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 16.2(2020):877-886.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Fan, Junfeng]'s Articles
[Deng, Sai]'s Articles
[Jing, Fengshui]'s Articles
Baidu academic
Similar articles in Baidu academic
[Fan, Junfeng]'s Articles
[Deng, Sai]'s Articles
[Jing, Fengshui]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Fan, Junfeng]'s Articles
[Deng, Sai]'s Articles
[Jing, Fengshui]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.