A Vision-Based Self-Tuning Fuzzy Controller for Fillet Weld Seam Tracking
文献类型：期刊论文
| 作者 | Fang, Zaojun ; Xu, De; Tan, Min
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2011-06-01 |
| 卷号 | 16期号:3页码:540-550 |
| 关键词 | Fillet weld fuzzy controller image-based visual control seam tracking self-tuning structured light vision |
| 英文摘要 | In this paper, an intelligent seam-tracking system is developed for fillet weld workpiece. Structured light vision is employed to detect the deviation of the welding torch. Two stripe lines are formed on the surface of the fillet weld workpiece by the structured laser light. Their intercepts are selected as the image feature, which can result in an approximately uncoupled relationship between the image feature and the movement of adjustment mechanism. A two-step feature-extraction method is designed to robustly detect the two lines in image. In order to get a favorable tracking precision in the welding process, a new self-tuning fuzzy controller is designed. Its input and output scaling factors are tuned according to its active working region. Moreover, a supervisory level is introduced into the control system to limit the output pulses in order to guarantee steady and safe tracking. Finally, experiments are well conducted to verify the performance of the proposed system and methods. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | TRAJECTORY TRACKING ; LEARNING CONTROL ; SENSOR ; SYSTEM ; MODEL |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000290413600015 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3424]  |
| 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, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Fang, Zaojun,Xu, De,Tan, Min. A Vision-Based Self-Tuning Fuzzy Controller for Fillet Weld Seam Tracking[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2011,16(3):540-550. |
| APA | Fang, Zaojun,Xu, De,&Tan, Min.(2011).A Vision-Based Self-Tuning Fuzzy Controller for Fillet Weld Seam Tracking.IEEE-ASME TRANSACTIONS ON MECHATRONICS,16(3),540-550. |
| MLA | Fang, Zaojun,et al."A Vision-Based Self-Tuning Fuzzy Controller for Fillet Weld Seam Tracking".IEEE-ASME TRANSACTIONS ON MECHATRONICS 16.3(2011):540-550. |
入库方式： OAI收割
来源：自动化研究所
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