Hybrid Visual Servoing Control for Robotic Arc Welding Based on Structured Light Vision

被引：2

作者：

XU De WANG LinKun TU ZhiGuo TAN MinLaboratory of Complex Systems and Intelligence Science Institute of AutomationChinese Academy of Sciences Beijing ^{[100080
]}

机构：

来源：

自动化学报 | 2005年 / 04期

关键词：

Robotic arc welding; structured light vision; weld seam tracking; hybrid visual servoingcontrol;

D O I：

10.16383/j.aas.2005.04.015

中图分类号：

TM921.5 [控制系统];

学科分类号：

摘要：

A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian space and two outer-loops. One is position-based visual control inCartesian space for moving in the direction of weld seam, i.e., weld seam tracking, another is image-based visual control in image space for adjustment to eliminate the errors in the process of tracking.A new Jacobian matrix from image space of the feature point on structured light stripe to Cartesianspace is provided for dierential movement of the end-e?ector. The control system model is simplifiedand its stability is discussed. An experiment of arc welding protected by gas CO2 for verifying iswell conducted.

引用

页码：104 / 113

页数：10