Development of six-DOF welding robot with machine vision

作     者：Huang, Wensheng Xu, Hongli 

作者机构：Changzhou Inst Technol Sch Elect & Optoelect Engn 666 Liaohe Rd Changzhou 213026 Peoples R China Changzhou Inst Technol Sch Mech & Automobile Engn 666 Liaohe Rd Changzhou 213026 Peoples R China 

出 版 物：《MODERN PHYSICS LETTERS B》 

年 卷 期：2018年第32卷第34-36期

核心收录：

学科分类：07[理学] 0702[理学-物理学] 

基　　金：Cultural Creative and Collaborative Innovation Funding for Jiangsu University [XYN1710] Prospective Project Funding in Jiangsu [2016031-03] 

主　　题：Welding robot linear structured light machine vision image recognition 

摘      要：The application of machine vision to industrial robots is a hot topic in robot research nowadays. A welding robot with machine vision had been developed, which is convenient and flexible to reach the welding point with six degrees-of-freedom (DOF) manipulator, while the singularity of its movement trail is prevented, and the stability of the mechanism had been fully guaranteed. As the precise industry camera can capture the optical feature of the workpiece to reflect in the camera s CCD lens, the workpiece is identified and located through a visual pattern recognition algorithm based on gray scale processing, on the gradient direction of edge pixel or on geometric element so that high-speed visual acquisition, image preprocessing, feature extraction and recognition, target location are integrated and hardware processing power is improved. Another task is to plan control strategy of control system, and the upper computer software is programmed in order that multi-axis motion trajectory is optimized and servo control is accomplished. Finally, prototype was developed and validation experiments show that the welding robot has high stability, high efficiency, high precision, even if welding joints are random and workpiece contour is irregular.