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	Circular Sub-window Multi-Step GPI Method in Seam Tracking of Welding Robot Based on 3D Vision
	Zhang, Wenzeng ; Zheng, Zhewei ; Ma, Xiande ; Chen, Qiang ; Du, Dong
	2010-05-10 ; 2010-05-10 ; OCT 15-17, 2008
会议名称	INTELLIGENT ROBOTICS AND APPLICATIONS, PT II, PROCEEDINGS ; 1st International Conference Intelligent Robotics and Applications ; Wuhan, PEOPLES R CHINA ; Web of Science ; INSPEC
关键词	Welding robot seam tracking gray projecting integral method visual servoing STRAIGHT-LINES TRANSFORM IMAGES Computer Science, Artificial Intelligence
中文摘要	Laser welding requires quite high trajectory accuracy of articulated welding robot. To increase this dynamic trajectory accuracy, a novel 3D seam tracking method is proposed based on stereo visual feedback control, in which a key task is to detect the seam from the vision image. To improve the precision and efficiency of the GPI seam-detecting method, this paper proposed a new method, the multi-step gray projecting integral (MSGPI) method with a circular sub-window. This method applies a circular division in image as the sub-window for detection and the means of GPI values, based on while surpassing the Standard GPI method. It adopts a link table to store edge points gained by Sobel filtering previously to reduce the amount of computation. A threshold method is employed to effectively eliminate noises caused by scratching and rust. The searching range of the line's angle in GPI process is divided into coarse searching and fine searching, which not only ensures detection accuracy but also greatly reduces the amount of computation. The experimental results show that the MSGPI method can achieve rapid and accurate detection for weld seam even if the seam is quite narrow, and can thus greatly improve the trajectory accuracy of industrial robot for laser welding, and the system using this method could meet the demand of high accuracy trajectory tracking.
会议录出版者	SPRINGER-VERLAG BERLIN ; BERLIN ; HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY
语种	英语 ; 英语
内容类型	会议论文
源URL	[http://hdl.handle.net/123456789/19023]
专题	清华大学
推荐引用方式 GB/T 7714	Zhang, Wenzeng,Zheng, Zhewei,Ma, Xiande,et al. Circular Sub-window Multi-Step GPI Method in Seam Tracking of Welding Robot Based on 3D Vision[C]. 见:INTELLIGENT ROBOTICS AND APPLICATIONS, PT II, PROCEEDINGS, 1st International Conference Intelligent Robotics and Applications, Wuhan, PEOPLES R CHINA, Web of Science, INSPEC.

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