Title :
Location of initial welding position based on structured-light and fixed in workspace vision
Author :
Lin Xu ; Maoyong Cao ; Haixia Wang ; Ning Sun
Abstract :
According to the characteristic of welding container reinforced plate and structured-light measurement theory, this paper designs an initial position locating system for container welding robot, which uses a calibration method of one CCD and lasers based on fixed in workspace vision and a sub-pixel feature extraction method of welding seam. This system with fixed image resolution can acquire the image information of robot arm and workspace at the same time. Meanwhile, it integrates the vision system and the robot control system easily, avoiding no light of sight. In addition, the difficulty of image processing is reduced with the feature of structured-light in welding. The experiment result shows that the locating system has the characteristic of simple algorithm, strong anti-jamming and practical.
Keywords :
calibration; computer vision; containers; feature extraction; image resolution; industrial manipulators; position control; robotic welding; calibration method; container welding robot; image resolution; initial welding position location; robot arm; robot control system; structured-light measurement theory; sub-pixel feature extraction; welding container reinforced plate; workspace vision; Calibration; Charge coupled devices; Containers; Feature extraction; Image resolution; Laser theory; Optical design; Position measurement; Robot vision systems; Welding; Fixed in workspace vision; Initial position location; Structured-light; Sub-pixel;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 2008. MFI 2008. IEEE International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-2143-5
Electronic_ISBN :
978-1-4244-2144-2
DOI :
10.1109/MFI.2008.4648008
