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为改善激光焊接机器人的运动轨迹精度,提出一种基于视觉的机器人轨迹跟踪控制方法。该方法将摄像机安装于工业机器人末端构成视觉反馈的控制系统,采用阈值分割方法检测出激光焦点,利用灰度投影积分方法快速检测出焊缝线,然后以修正的线-线匹配和立体视觉技术计算出激光焦点和焊缝线的空间位置,得到激光焦点相对于焊缝线的误差,再结合机器人运动学原理控制机器人实时运动以消除此误差。实验结果表明该方法能够有效提高机器人轨迹精度。
In order to improve the trajectory accuracy of laser welding robots, a vision-based robot trajectory tracking control method is proposed. In this method, the camera is mounted on the end of the industrial robot to form a visual feedback control system. The laser focus is detected by the threshold segmentation method, and the welding seam line is detected quickly by the gray projection integral method. Then, with the modified line-line matching and stereo vision technology Calculate the laser focus and weld line space position, get the laser focus relative to the error of the weld line, combined with the robot kinematics to control the robot real-time motion to eliminate this error. Experimental results show that this method can effectively improve the robot trajectory accuracy.