基于激光跟踪的V形坡口焊接机器人
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摘要
介绍了激光跟踪焊接机器人的结构组成和工作原理。在分析了V形坡口焊缝空间位置和形状特征的基础上,采取结构光法标定焊缝图像。经过焊缝条纹图像处理,提取焊缝特征点,根据三角测量原理建立了特征点的三维坐标。通过建立图像空间到机器人末端焊枪的笛卡尔空间雅可比矩阵,计算出焊枪在基坐标下的位姿;利用机器人逆运动学方程,求得机器人各关节的位置值,最后由关节控制器控制各个关节的运动,实现了机器人V形坡口焊接的视觉控制。
The structure composition and working principle of the laser tracking welding robot were introduced.On the analysis of the V-shaped groove weld space's location and shape's characteristics,on the basis of structured light method of calibration of weld image,through image processing of the weld stripes,extracting weld 's feature points,the three-dimensional coordinates of feature points were established by the principle of triangulation. Calculating the torch in the base coordinates posture through the establishment of the image space to the welding torch at the end of the robot cartesian space jacobian matrix,using the inverse kinematics equation,the position of each joint values was obtained by robot. Then,the controller control the movement of each joint by joint,the V-shaped groove welding robot visual control was implemented.
The structure composition and working principle of the laser tracking welding robot were introduced.On the analysis of the V-shaped groove weld space's location and shape's characteristics,on the basis of structured light method of calibration of weld image,through image processing of the weld stripes,extracting weld 's feature points,the three-dimensional coordinates of feature points were established by the principle of triangulation. Calculating the torch in the base coordinates posture through the establishment of the image space to the welding torch at the end of the robot cartesian space jacobian matrix,using the inverse kinematics equation,the position of each joint values was obtained by robot. Then,the controller control the movement of each joint by joint,the V-shaped groove welding robot visual control was implemented.
引文
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3李国军.汽车车身焊接的智能化与自动化.山西电子技术,2014;(3):48-49Li Guojun.Application of robot in welding of car body.Shanxi Electronic Technology,2014;(3):48-49
4杨俊,卢勇,吴义荣.基于GSK-RB工业机器人的电机端盖加工自动上下料功能实现.机电工程技术,2013;42(7),42-44Yang Jun,Luyong,Wu Yirong.The automatic loading and unloading of motor cover system's design based on GSK-RB industrial robot.Mechanical&Electrical Engineering Technology,2013;42(7),42-44
5叶晶波.CO2气体保护电弧焊送丝装置的构成及功能.电焊机,2002;32(6):46-48Ye Jingbo.Structure and function of wire feeder of CO2welding machine.Welding Machine,2002;32(6):46-48
6喻宁娜,莫胜撼,钟义广,等.激光视觉传感抗强弧光干扰措施.焊接,2010;(8):32-36Yu Ningna,Mo Shenghan,Zhong Yiguang,et al.Anti-interference measures of strong arc light in laser vision process.Welding&Joining,2010;(8):32-36
7 Ding Y Y,Huang W,Kovacevic R.An on-line shape-matching weld seam tracking system.Robotics and Computer-Integrated Manufacturing,2016;42:103-112
8刘宝元,邢冀川.基于激光三角法货车体积测量系统的标定研究.光学仪器,2015;3(3):189-194Liu Baoyuan,Xing Jichuan.Study on the calibration for laser triangulation measurement system of truck carriage volume.Optical Instrument,2015;3(3):189-194
9陈若珠,武艺玄.基于车牌识别的图像预处理研究.工业仪表与自动化装置,2015;(4):40-43Chen Ruozhu,Wu Yixuan.Research of image preprocessing based on license plate recognition.Industrial Instrumentation&Automation,2015;(4):40-43
10于成忠,朱骏,袁晓辉.基于背景差法的运动目标检测.东南大学学报,2005;35(2):159-161Yu Chengzhong,Zhu Jun,Yuan Xiaohui.Video object detection based on background subtraction.Journal of Southeast University(Natural Science Edition),2005;35(2):159-161
11 Gao X D,You D Y,Katayama S J.Infrared image recognition for seam tracking monitoring during fiberlaser welding.Mechatronics,2012;22(4):370-380
12于翔,于连生.海水中悬浮颗粒图像的二值化问题.海洋技术,2013;32(4):49-53Yu Xiang,Yu Liansheng.Study on the binarization problem of suspended particle image in seawater.Ocean Technology,2013;32(4):49-53
13徐德,谭民,李原.机器人视觉测量与控制.北京:国防工业出版社,2011:30-50Xu De,Tan Min,Li Yuan.Visual measurement and control for robots.Beijing:National Defense Industry Press,2011:30-50
14王秀平,白瑞林.双队列控制的激光视觉焊缝跟踪系统研究.计算机工程与应用,2015;51(2):30-34Wang Xiuping,Bai Ruilin.Research of welding seam tracking system using laser vision and double queues.Computer Engineering and Applications,2015;51(2):30-34
2 Chang D,Son D,Lee J,et al.A new seam-tracking algorithm through characteristic-point detection for a portable welding robot.Robotics and Computer-Integrated Manufacturing,2012;28(1):1-13
3李国军.汽车车身焊接的智能化与自动化.山西电子技术,2014;(3):48-49Li Guojun.Application of robot in welding of car body.Shanxi Electronic Technology,2014;(3):48-49
4杨俊,卢勇,吴义荣.基于GSK-RB工业机器人的电机端盖加工自动上下料功能实现.机电工程技术,2013;42(7),42-44Yang Jun,Luyong,Wu Yirong.The automatic loading and unloading of motor cover system's design based on GSK-RB industrial robot.Mechanical&Electrical Engineering Technology,2013;42(7),42-44
5叶晶波.CO2气体保护电弧焊送丝装置的构成及功能.电焊机,2002;32(6):46-48Ye Jingbo.Structure and function of wire feeder of CO2welding machine.Welding Machine,2002;32(6):46-48
6喻宁娜,莫胜撼,钟义广,等.激光视觉传感抗强弧光干扰措施.焊接,2010;(8):32-36Yu Ningna,Mo Shenghan,Zhong Yiguang,et al.Anti-interference measures of strong arc light in laser vision process.Welding&Joining,2010;(8):32-36
7 Ding Y Y,Huang W,Kovacevic R.An on-line shape-matching weld seam tracking system.Robotics and Computer-Integrated Manufacturing,2016;42:103-112
8刘宝元,邢冀川.基于激光三角法货车体积测量系统的标定研究.光学仪器,2015;3(3):189-194Liu Baoyuan,Xing Jichuan.Study on the calibration for laser triangulation measurement system of truck carriage volume.Optical Instrument,2015;3(3):189-194
9陈若珠,武艺玄.基于车牌识别的图像预处理研究.工业仪表与自动化装置,2015;(4):40-43Chen Ruozhu,Wu Yixuan.Research of image preprocessing based on license plate recognition.Industrial Instrumentation&Automation,2015;(4):40-43
10于成忠,朱骏,袁晓辉.基于背景差法的运动目标检测.东南大学学报,2005;35(2):159-161Yu Chengzhong,Zhu Jun,Yuan Xiaohui.Video object detection based on background subtraction.Journal of Southeast University(Natural Science Edition),2005;35(2):159-161
11 Gao X D,You D Y,Katayama S J.Infrared image recognition for seam tracking monitoring during fiberlaser welding.Mechatronics,2012;22(4):370-380
12于翔,于连生.海水中悬浮颗粒图像的二值化问题.海洋技术,2013;32(4):49-53Yu Xiang,Yu Liansheng.Study on the binarization problem of suspended particle image in seawater.Ocean Technology,2013;32(4):49-53
13徐德,谭民,李原.机器人视觉测量与控制.北京:国防工业出版社,2011:30-50Xu De,Tan Min,Li Yuan.Visual measurement and control for robots.Beijing:National Defense Industry Press,2011:30-50
14王秀平,白瑞林.双队列控制的激光视觉焊缝跟踪系统研究.计算机工程与应用,2015;51(2):30-34Wang Xiuping,Bai Ruilin.Research of welding seam tracking system using laser vision and double queues.Computer Engineering and Applications,2015;51(2):30-34