Robot Path Generation Method for a Welding System Based on Pseudo Stereo Visual Servo Control
نویسندگان
چکیده
A path generation method for robot-based welding systems is proposed. The method that is a modification of the method “teaching by showing” is supported by the recently developed pseudo stereovision system (PSVS). A path is generated by means of the target-object (TOB), PSVS, and the pseudo stereo visual servo control scheme proposed. A part of the new software application, called humanPT, permits the communication of a user with the robotic system. Here, PSVS, the robotic system, the TOB, the estimation of robot poses by means of the TOB, and the control and recording algorithm are described. Some new concepts concerning segmentation and point correspondence are applied as a complex image is processed. A method for calibrating the endpoint of TOB is also explained. Experimental results demonstrate the effectiveness of the proposed system.
منابع مشابه
Pseudo Stereovision-based Path Generation Method for a Robotic Arc Welding System
In this paper a vision-based path generation method for a robotic arc welding system, is presented. The vision system used is the Pseudo Stereovision System (PSVS) that captures a complex image in a single shot. A part of the recently developed HumanPT robotic software application permits to implement the algorithms proposed. A desired welding path can be generated, not using a “Teaching by Sho...
متن کاملSimulation of Position Based Visual Control and Performance Tests of 6R Robot
This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...
متن کاملSeam Tracking of Articulated Robot for Laser Welding Based on Visual Feedback Control
Laser welding has a quite high demand on trajectory accuracy of articulated robot. To improve dynamic trajectory accuracy of articulated robots for laser welding, a novel 3D seam tracking method is proposed based on stereo visual feedback control. The method constructs a visual feedback control system with two convergent cameras mounted at the end of industrial robot. A tool coordinate system i...
متن کاملVisual Servo Control of a Mobile Robot Using Omnidirectional Vision
To achieve a fully autonomous robot several individual sensory based tasks can be composed to accomplish a complete autonomous mission. These sensory based tasks can be distance detection with ultrasonic sensors to avoiding collision or stereo vision acquisition and processing for environment mapping. In this context, the sensory based task that is subject of this paper is a moving target follo...
متن کاملIntelligent Robotic System with Fuzzy Learning Controller and 3D Stereo Vision
It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. It is difficult to establish an appropriate mathematical model for designing a model-based controller. The model-free feature of fuzzy logic control strategy was employed to design robotic motion controller. However, there is no guide rule for designing the fuzzy rule bank and parameters, it still needs ti...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- EURASIP J. Adv. Sig. Proc.
دوره 2005 شماره
صفحات -
تاریخ انتشار 2005