Abstract
A method of autonomous seam acquisition and tracking for arc welding robot is proposed. The seam information is real-timely obtained by one CCD camera in front of the anterior seam, while the host computer is in charge of image processing and edge features extracting. Thus the deviation between the projection of the tungsten electrode and the central line of welding seam can be obtained. Simultaneously tracking trajectory is optimized by Kalman filter and revised to eliminate the deviation defined so as to track the weld seam. The method can also be used to finish seam acquisition and tracking in the whole welding process autonomously even if the robot is never taught. The results validate feasibility of the method and imply the improvement of autonomy and intelligence for robot welding.
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© 2011 Springer-Verlag Berlin Heidelberg
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Wei, S., Kong, M., Lin, T., Chen, S. (2011). Autonomous Seam Acquisition and Tracking for Robotic Welding Based on Passive Vision. In: Tarn, TJ., Chen, SB., Fang, G. (eds) Robotic Welding, Intelligence and Automation. Lecture Notes in Electrical Engineering, vol 88. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19959-2_5
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DOI: https://doi.org/10.1007/978-3-642-19959-2_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19958-5
Online ISBN: 978-3-642-19959-2
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