An Initial Point Alignment and Seam-Tracking System for Narrow Weld | |
Fan, Junfeng1,2; Deng, Sai1,2; Jing, Fengshui1,2; Zhou, Chou1,2; Yang, Lei1,2; Long, Teng1,2; Tan, Min1,2 | |
刊名 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS |
2020-02-01 | |
卷号 | 16期号:2页码:877-886 |
关键词 | Initial point alignment laser vision sensor narrow weld robot welding seam tracking |
ISSN号 | 1551-3203 |
DOI | 10.1109/TII.2019.2919658 |
通讯作者 | Jing, Fengshui(fengshui.jing@ia.ac.cn) |
英文摘要 | Recently, laser vision sensors are widely applied in initial point alignment and seam tracking to improve the level of intelligent welding because of good characteristics. However, since the deformation of laser stripe is unobvious at the narrow weld with 0.2 mm width, these methods are not applicable for the narrow weld. Moreover, there are rare researches that could achieve initial point alignment and seam tracking of narrow weld simultaneously. Therefore, an initial point alignment and seam tracking system for narrow weld is proposed in this paper. At first, a laser vision sensor with extra light emitting diode light is used to obtain laser and weld seam image. Besides, the seam feature point is extracted and three-dimensional coordinates can be obtained with vision model. In addition, three controllers including decision controller, initial point alignment controller, and seam-tracking controller are proposed to achieve initial point alignment and seam tracking control in X- and Z-axis directions. Moreover, feature verification, Kalman filter, and output pulse verification are designed to improve the accuracy and stability of this system. Finally, many initial point alignment and seam-tracking experiments of narrow weld are conducted. Experimental results demonstrate that proposed system can well achieve initial point alignment and seam tracking of planar and curved surface narrow weld. |
资助项目 | National Natural Science Foundation of China[U1813208] ; National Natural Science Foundation of China[61573358] |
WOS关键词 | BUTT SEAMS ; SENSOR ; JOINT |
WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
语种 | 英语 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
WOS记录号 | WOS:000521337000014 |
资助机构 | National Natural Science Foundation of China |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/38797] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
通讯作者 | Jing, Fengshui |
作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
推荐引用方式 GB/T 7714 | Fan, Junfeng,Deng, Sai,Jing, Fengshui,et al. An Initial Point Alignment and Seam-Tracking System for Narrow Weld[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2020,16(2):877-886. |
APA | Fan, Junfeng.,Deng, Sai.,Jing, Fengshui.,Zhou, Chou.,Yang, Lei.,...&Tan, Min.(2020).An Initial Point Alignment and Seam-Tracking System for Narrow Weld.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,16(2),877-886. |
MLA | Fan, Junfeng,et al."An Initial Point Alignment and Seam-Tracking System for Narrow Weld".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 16.2(2020):877-886. |
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