摘要
采用安装在机器人手臂上的激光传感器感知信息对远端焊缝模型的动态建模问题进行了研究。通过引入虚拟向导的操作概念,操作者可以方便地实现远端焊缝扫描操作,并且具有很高的安全性;在焊缝断面特征数据处理上,采用模板匹配方法实现了焊缝断面特征的提取,并以“V”字形式进行统一描述;最后,基于参数三次样条曲线方程对离散的焊缝断面特征数据进行拟合,并在基于Java&Java3D技术开发的虚拟环境中实现了连续焊缝模型的动态建模。
The dynamic modeling of remote weld was investigated based on the information acquired by laser sensor mounted on robet arm.The scanning path of a weld seam was constructed by introducing the concept of virtual guide,which can lower operative difficulties for the operator in master site and show high security.Template matching was used to recognize the weld seam,and an uniform 'V' contour was defined to represent any section of the seam section.At last,cubic spline was employed to construct the continuous model of the seam.The above works were successfully accomplished in VE that was developed by using Java and Java3D,which provides a valuable reference for remote robotic welding.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2006年第2期89-92,共4页
Transactions of The China Welding Institution
关键词
机器人
遥控焊接
半结构化环境
焊缝
动态建模
robot
remote welding
semi-structure environment
weld seam
dynamic modeling
