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自动化学报 2005
基于结构光的机器人弧焊混合视觉伺服控制, PP. 596-605 Keywords: Roboticarcwelding,structuredlightvision,weldseamtracking,hybridvisualservoingcontrol Abstract: ？Anovelhybridvisualservoingcontrolmethodbasedonstructuredlightvisionisproposedforroboticarcweldingwithageneralsixdegreesoffreedomrobot.Itconsistsofapositioncontrolinner-loopinCartesianspaceandtwoouter-loops.Oneisposition-basedvisualcontrolinCartesianspaceformovinginthedirectionofweldseam,i.e.,weldseamtracking,anotherisimage-basedvisualcontrolinimagespaceforadjustmenttoeliminatetheerrorsintheprocessoftracking.AnewJacobianmatrixfromimagespaceofthefeaturepointonstructuredlightstripetoCartesianspaceisprovidedfordifferentialmovementoftheend-effector.Thecontrolsystemmodelissimplifiedanditsstabilityisdiscussed.AnexperimentofarcweldingprotectedbygasCO_2forverifyingiswellconducted.
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