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An Initial Point Alignment and Seam-Tracking System for Narrow Weld

文献类型：期刊论文

作者Fan, Junfeng1,2; Deng, Sai1,2; Jing, Fengshui1,2; Zhou, Chou1,2; Yang, Lei1,2; Long, Teng1,2; Tan, Min1,2
刊名IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
出版日期2020-02-01
卷号16期号:2页码:877-886
关键词Initial point alignment laser vision sensor narrow weld robot welding seam tracking
ISSN号1551-3203
DOI10.1109/TII.2019.2919658
通讯作者Jing, Fengshui(fengshui.jing@ia.ac.cn)
英文摘要Recently, laser vision sensors are widely applied in initial point alignment and seam tracking to improve the level of intelligent welding because of good characteristics. However, since the deformation of laser stripe is unobvious at the narrow weld with 0.2 mm width, these methods are not applicable for the narrow weld. Moreover, there are rare researches that could achieve initial point alignment and seam tracking of narrow weld simultaneously. Therefore, an initial point alignment and seam tracking system for narrow weld is proposed in this paper. At first, a laser vision sensor with extra light emitting diode light is used to obtain laser and weld seam image. Besides, the seam feature point is extracted and three-dimensional coordinates can be obtained with vision model. In addition, three controllers including decision controller, initial point alignment controller, and seam-tracking controller are proposed to achieve initial point alignment and seam tracking control in X- and Z-axis directions. Moreover, feature verification, Kalman filter, and output pulse verification are designed to improve the accuracy and stability of this system. Finally, many initial point alignment and seam-tracking experiments of narrow weld are conducted. Experimental results demonstrate that proposed system can well achieve initial point alignment and seam tracking of planar and curved surface narrow weld.
WOS关键词BUTT SEAMS ; SENSOR ; JOINT
资助项目National Natural Science Foundation of China[U1813208] ; National Natural Science Foundation of China[61573358]
WOS研究方向Automation & Control Systems ; Computer Science ; Engineering
语种英语
WOS记录号WOS:000521337000014
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/38797]  
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
通讯作者Jing, Fengshui
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714		 Fan, Junfeng,Deng, Sai,Jing, Fengshui,et al. An Initial Point Alignment and Seam-Tracking System for Narrow Weld[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2020,16(2):877-886.
APA Fan, Junfeng.,Deng, Sai.,Jing, Fengshui.,Zhou, Chou.,Yang, Lei.,...&Tan, Min.(2020).An Initial Point Alignment and Seam-Tracking System for Narrow Weld.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,16(2),877-886.
MLA Fan, Junfeng,et al."An Initial Point Alignment and Seam-Tracking System for Narrow Weld".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 16.2(2020):877-886.

入库方式： OAI收割

来源：自动化研究所

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