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设计了基于激光结构光视觉的机器人曲线焊缝跟踪系统。为了实现大范围高精度跟踪,机器人本体采用宏微运动机构,宏动机构负责大范围跟踪,微动机构负责提高跟踪精度。对曲线焊缝进行分段直线拟合,并采用卡尔曼滤波器预测焊缝上各直线段的斜率,通过相邻直线段的斜率差判断焊缝方向,以指导焊枪提前动作,保证其沿着焊缝轨迹行走。为了提高焊缝跟踪时焊枪位置的调节精度,设计了自调节模糊控制器,其输入输出变量所对应的隶属度函数可以根据跟踪状态进行自适应调整。通过实验验证,表明所提方法具有较高的焊缝跟踪精度,性能优于传统的焊缝跟踪控制器。
A robotic curved seam tracking system based on laser structured light vision is designed. In order to achieve a wide range of high-precision tracking, the robot uses a macro-micro motion body, macro motion mechanism is responsible for a wide range of tracking, micro-motion mechanism is responsible for improving the tracking accuracy. The curved seam is fitted with a piecewise straight line and the Kalman filter is used to predict the slope of each straight line on the weld. The direction of the weld seam is judged by the slope difference between adjacent straight lines to guide the welding torch to move ahead of time Weld track walking. In order to improve the accuracy of welding torch position adjustment, a self-adjusting fuzzy controller is designed. The membership functions of the input and output variables can be adaptively adjusted according to the tracking status. The experimental results show that the proposed method has higher tracking accuracy and better performance than traditional weld tracking controller.