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

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

727

Lastpage

732

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521871

Filename

1521871