An automated weld seam tracking system for thick plate using cross mark structured light
文献类型：期刊论文
| 作者 | Kiddee, Prasarn; Fang, Zaojun ; Tan, Min
|
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
 |
| 出版日期 | 2016-12-01 |
| 卷号 | 87期号:9-12页码:3589-3603 |
| 关键词 | Structured light Self-creating template Modified template matching Seam tracking control |
| 英文摘要 | This paper presents a weld seam tracking system using cross mark structured light. The hardware of the proposed system consists of a two degrees of freedom (DOF) welding robot, a camera with cross mark structured light, and two computers. The system has two parts namely visual sensing and motion control. In the visual sensing part, the cross mark of the structured light is utilized to set a region of interest (ROI). In the ROI, an adapted line fitting algorithm is employed to estimate the lines. Then, intersections of the lines are computed and used as the pin points for templates creating. During the matching process, a modified template matching is used to detect the edges of V-groove weld seam. By using this technique, a huge computational cost in image processing can be reduced, and therefore the tracking can be made in real time. The position based visual servoing with proportional-derivative(PD) and velocity feedback controller is designed for seam tracking. The experimental results show that the proposed method performs the real-time tracking efficiently with sufficient accuracy. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | FEEDBACK-CONTROL ; VISION ; ROBOT ; POSITION |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000388988300097 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13366]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Kiddee, Prasarn,Fang, Zaojun,Tan, Min. An automated weld seam tracking system for thick plate using cross mark structured light[J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,2016,87(9-12):3589-3603. |
| APA | Kiddee, Prasarn,Fang, Zaojun,&Tan, Min.(2016).An automated weld seam tracking system for thick plate using cross mark structured light.INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,87(9-12),3589-3603. |
| MLA | Kiddee, Prasarn,et al."An automated weld seam tracking system for thick plate using cross mark structured light".INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 87.9-12(2016):3589-3603. |
入库方式： OAI收割
来源：自动化研究所
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