%0 Journal Article
%T 基于结构光的机器人弧焊混合视觉伺服控制
%A 徐德
%A 王麟琨
%A 涂志国
%A 谭民
%J 自动化学报
%P 596-605
%D 2005
%X ？Anovelhybridvisualservoingcontrolmethodbasedonstructuredlightvisionisproposedforroboticarcweldingwithageneralsixdegreesoffreedomrobot.Itconsistsofapositioncontrolinner-loopinCartesianspaceandtwoouter-loops.Oneisposition-basedvisualcontrolinCartesianspaceformovinginthedirectionofweldseam,i.e.,weldseamtracking,anotherisimage-basedvisualcontrolinimagespaceforadjustmenttoeliminatetheerrorsintheprocessoftracking.AnewJacobianmatrixfromimagespaceofthefeaturepointonstructuredlightstripetoCartesianspaceisprovidedfordifferentialmovementoftheend-effector.Thecontrolsystemmodelissimplifiedanditsstabilityisdiscussed.AnexperimentofarcweldingprotectedbygasCO_2forverifyingiswellconducted.
%K Roboticarcwelding
%K structuredlightvision
%K weldseamtracking
%K hybridvisualservoingcontrol
%U http://www.aas.net.cn/CN/abstract/abstract16024.shtml