提出了一种基于线结构光视觉传感器示教及纠偏的二维机器人焊缝跟踪方法。利用简单快速的系统标定,视觉传感器分别对焊缝上示教特征点和实际特征点坐标进行测量记录,同时采用模板匹配进行图像处理,测出它们之间的偏差,ABB机器人根据得到的偏差实时调整焊枪位置,从而实现自动跟踪。利用线结构光视觉传感器和ABB机器人设计了实验系统,对所提的方法进行了验证。 This paper presents a two-dimensional robot welding seam tracking method based on line structure optical vision sensor teaching and correction. Using simple and fast system calibration, the visual sensor separately measured and recorded the teaching feature point and the actual feature point coordinate of the weld, and used template matching to process the image and detect the deviation between them. The ABB robot real-time Adjust the torch position to achieve automatic tracking. The experimental system was designed by using linear structured light sensor and ABB robot, and the proposed method was verified.