薄板机器人自动焊接焊枪三维偏差的有效提取

机器人自动化焊接中焊枪三维偏差的提取是实现自动纠偏的前提.薄板机器人MAG对接焊接中对试件开坡口，试验中利用被动视觉传感器采集焊缝图像.通过调整滤、减光组合使得同一帧图像中出现稳定的电弧区域、坡口边缘线和缝隙接头线.设计有效算法直接提取缝隙接头线.以电弧区域的几何中心反馈焊枪位置，设计有效算法在缝隙接头线上确定焊枪当前跟踪位置，并借助视觉标定技术将其转换为世界坐标.利用用户软件系统从机器人控制系统中获取焊枪在世界坐标系下的坐标及转换后的坐标.结果表明，文中算法可以有效获取焊枪的三维偏差.

Effective three-dimensional deviation extraction of the welding torch for robotic arc welding with steel sheets

Three-dimensional (3D) deviation extraction of the welding torch for the automated welding process is a prerequisite in robotic intelligentized arc welding. In this paper, with the welding robot meal active gas (MAG) arc welding method was used to join steel sheets with micro grooves. Passive vision sensors with the appropriate combination of the filter and dimmer glass were used to capture images which contained complete arc regions, edge lines of the seam, and joint lines. An effective algorithm was then proposed to directly extract the seam line of the butt joint. To determine the tracking point at each sampling time the real-time position of the welding torch was first signed with the geometric center of the arc region. Then, another algorithm was suggested to determine the tracking point that lies in the extracted seam line. It was transformed into the world coordinate using existing vision calibrated techniques, and the 3D deviation was yielded when the exact position of the welding torch in the world coordinate system had been recorded from the control system of the welding robot. Experimental results show that the proposed method in this paper can effectively acquire the 3D deviation of the welding torch in real time.