计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2015年
5期
222-227
,共6页
闫文才%白瑞林%刘子腾%李新%郭新年
閆文纔%白瑞林%劉子騰%李新%郭新年
염문재%백서림%류자등%리신%곽신년
焊接机器人%位姿调整%曲线焊缝跟踪%视觉伺服控制
銲接機器人%位姿調整%麯線銲縫跟蹤%視覺伺服控製
한접궤기인%위자조정%곡선한봉근종%시각사복공제
welding robot%posture adjustment%tracking curve weld seams%visual servoing control
为实现焊接机器人对曲线焊缝的自动跟踪,提出一种简便的位姿实时调整策略和协调视觉跟踪与机器人运动的视觉伺服控制方法。建立了曲线焊缝视觉跟踪过程中焊接机器人期望位姿的数学模型;设计了一种上下层结构的模糊视觉伺服控制器,通过建立焊缝特征点像素坐标偏差与末端轴旋转角度之间的关系模型,动态确定模糊论域的大小,在机器人期望位姿的基础上仅仅通过调整末端轴的旋转量来保证图像特征点始终存在于相机视场内。通过模拟焊接机器人自动跟踪曲线焊缝的实验,验证了所提策略与方法的有效性。
為實現銲接機器人對麯線銲縫的自動跟蹤,提齣一種簡便的位姿實時調整策略和協調視覺跟蹤與機器人運動的視覺伺服控製方法。建立瞭麯線銲縫視覺跟蹤過程中銲接機器人期望位姿的數學模型;設計瞭一種上下層結構的模糊視覺伺服控製器,通過建立銲縫特徵點像素坐標偏差與末耑軸鏇轉角度之間的關繫模型,動態確定模糊論域的大小,在機器人期望位姿的基礎上僅僅通過調整末耑軸的鏇轉量來保證圖像特徵點始終存在于相機視場內。通過模擬銲接機器人自動跟蹤麯線銲縫的實驗,驗證瞭所提策略與方法的有效性。
위실현한접궤기인대곡선한봉적자동근종,제출일충간편적위자실시조정책략화협조시각근종여궤기인운동적시각사복공제방법。건립료곡선한봉시각근종과정중한접궤기인기망위자적수학모형;설계료일충상하층결구적모호시각사복공제기,통과건립한봉특정점상소좌표편차여말단축선전각도지간적관계모형,동태학정모호론역적대소,재궤기인기망위자적기출상부부통과조정말단축적선전량래보증도상특정점시종존재우상궤시장내。통과모의한접궤기인자동근종곡선한봉적실험,험증료소제책략여방법적유효성。
In order to realize the curve weld seams automatic tracking with welding robot, a simple real-time posture ad-justment strategy and coordinate visual tracking and visual servoing control of the welding torch movement method is pro-posed in this paper. The mathematical model of expected position in the process of robot motion is established. Also, a fuzzy visual servo controller based on the up-down structure is designed. Through the establishment of the relational model which depends on coordinates deviation of weld feature points pixel and end shaft rotation angle, to determine the size of fuzzy domain of discourse dynamically. While only by adjusting the amount of end shaft rotation, it ensures that the image feature point always exists in the camera view on the basis of the robot with ideal position. Simulation results of curve weld automatic tracking verify the effectiveness of the proposed method.