基于机器视觉焊接轨迹搜索算法
Welding path search algorithm based on machine vision
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摘要: 传统的焊接机器人一般采用示教再现的方法获取焊接轨迹,为确保这种工作模式能够实施,需要在前工序中采用人工点焊完成工件的定位,这将引起定位误差,使实际轨迹偏离示教轨迹. 针对该问题,提出了基于机器视觉焊接轨迹搜索算法. 基于几何形状的金字塔分层模板匹配技术,计算偏移量和旋转量从而校正示教轨迹. 结果表明,该算法具有较高的精度和效率,能满足机器人自动搜索轨迹对实时响应的要求. 工业应用表明,在实际焊接中,当焊接工件在X轴和Y轴方向有±5.5 mm的偏移量、在XOY平面上有8°的旋转角度时,该算法仍能准确搜索到焊接轨迹.Abstract: Welding robot is commonly used in the traditional teaching and playback method for getting the welding path. In order to ensure that this work mode can be implemented successfully, manual welding must be adopted to complete the workpiece positioning, which will cause the positioning error and make the actual trajectory deviate from the teaching path. In order to solve this problem, welding path search algorithm based on machine vision is put forward. Pyramid hierarchical template matching based on geometry algorithm is studied, and the offset and rotation are calculated to correct the teaching path. It is proved experimentally that the algorithm has high accuracy and efficiency, which can meet the requirements of real time response ability when the welding robot search trajectory automatically. The industrial application shows that, in the practical welding environment, when the welding workpiece offset in X axis and Y axis direction is less than ±5.5 mm and a rotation angle of 8° in the XOY plane, the algorithm can still search the welding path accurately.
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Keywords:
- machine vision /
- template matching /
- welding trajectory /
- welding robot
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