摘要
为正确建立位姿调整轨迹规划的坐标系,研究了移动机器人在自寻迹过程中的关键问题——切入角的计算.结合工程应用实际,基于激光视觉传感器并根据不同的焊接坡口形式提出了3种切入角算法,同时分析了每种算法的利弊和适用场合,并重点讨论了激光视觉传感器扫描坡口方式的切入角算法.该算法不严格依赖坡口加工精度,也不需要知道确切的坡口形式,提高了算法的实用性和可靠性.试验结果表明,所提出的3种切入角算法是切实有效的,能够满足实际焊接工程需要.
In order to establish a coordinate system for trajectory planning of posture adjustment accurately, the key part during auto-searching weld line——the calculation of entrance angle was investigated. According to the different groove types and combining the practical application of the project, three algorithms based on laser visual sensor for the calculation of entrance angle were proposed. The advantages and disadvantages of every algorithm and the applicable occasions were analyzed.The (algorithm) of the entrance angle in which the groove is scanned by the laser visual sensor was discussed especially. The algorithm does not strictly rely on the machining accuracy of grooves and also need not know the accurate groove model, so it has higher practicability and dependability. The experimental results shows that the proposed three algorithms are accurate and reliable,and can meet the requirements of practical welding project.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2005年第6期941-944,949,共5页
Journal of Shanghai Jiaotong University
关键词
焊接移动机器人
自寻迹
切入角
激光视觉传感器
welding mobile robot
auto-searching weld line
entrance angle
laser visual sensor
