基于新一代产品几何技术规范(Geometrical Product Specification,GPS)的操作及操作算子技术给出了圆柱度误差的最小二乘数学模型;根据GUM(Guide to the Expression of Uncertainty in Measurement)建议的方法,导出了该模型的不确定度...基于新一代产品几何技术规范(Geometrical Product Specification,GPS)的操作及操作算子技术给出了圆柱度误差的最小二乘数学模型;根据GUM(Guide to the Expression of Uncertainty in Measurement)建议的方法,导出了该模型的不确定度估计公式;通过蒙特卡罗模拟法和实际测量计算结果的比较,验证了所导出的不确定度估计公式的有效性。展开更多
Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,i...Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.展开更多
文摘基于新一代产品几何技术规范(Geometrical Product Specification,GPS)的操作及操作算子技术给出了圆柱度误差的最小二乘数学模型;根据GUM(Guide to the Expression of Uncertainty in Measurement)建议的方法,导出了该模型的不确定度估计公式;通过蒙特卡罗模拟法和实际测量计算结果的比较,验证了所导出的不确定度估计公式的有效性。
基金Supported by Ministerial Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.
