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机器人焊接过程中焊缝三维空间中心位置的确定是焊缝自动跟踪系统重要的一环.由于多数焊缝为直线,且实际的焊缝在小范围内可近似为直线,因而特征点的空间坐标确定以后如何确定直线是问题的关键所在.在焊缝特征点确定以后,根据空间解析几何的定位原理,结合最小二乘法,首先给出了焊缝中心线的确定原则,其次,按直线的点向式方程,利用焊缝特征点的全息,给出了中心直线的点和方向向量确定的解析方法.
The determination of the three-dimensional center of the weld in robot welding process is an important part of the automatic tracking system.As most of the welding seam is a straight line, and the actual weld can be approximated as a straight line in a small area, the spatial coordinates After determining the feature point of the weld, according to the positioning principle of the spatial analytic geometry and the least square method, the principle of determining the center line of the weld is given first. Secondly, according to the point of the straight line For the equation, the analytic method of determining the point and direction vector of the center straight line is given by using the hologram of weld feature points.