Title :
Image Processing and Visual Control Method for Arc Welding Robot
Author :
Xu, De ; Wang, Linkun ; Tan, Min
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing
Abstract :
The methods to improve the robustness and adaptability of arc welding robots are presented. Image processing algorithm for feature extraction from structured light images of weld seam is discussed in the case of a large amount of strong reflection, arc light and splash disturbance. The processes consist of defining target region, selecting adaptive threshold and extracting feature points. Then a novel hybrid visual servo control method for arc welding robot is provided, in which the position-based and image-based visual servo method are integrated to increase the robustness of weld seam tracking. The welding experiment is well conducted to verify the methods
Keywords :
arc welding; computer vision; feature extraction; position control; robotic welding; robust control; servomechanisms; tracking; arc welding robot; feature extraction; hybrid visual servo control; image processing; visual control; weld seam tracking; Feature extraction; Image processing; Optical reflection; Process control; Robots; Robust control; Robustness; Servomechanisms; Servosystems; Welding; Image processing; arc welding robot; hybrid visual servo control; weld seam tracking;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521871
