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Báo cáo hóa học: " Robot Path Generation Method for a Welding System Based on Pseudo Stereo Visual Servo Control"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Robot Path Generation Method for a Welding System Based on Pseudo Stereo Visual Servo Control | EURASIP Journal on Applied Signal Processing 2005 14 2268-2280 2005 Theodore P. Pachidis et al. Robot Path Generation Method for a Welding System Based on Pseudo Stereo Visual Servo Control Theodore P. Pachidis Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi 67100 Greece Email pated@otenet.gr Kostas N. Tarchanidis Department of Petroleum Technology Technological Educational Institute of Kavala AgLoukas Kavala 65404 Greece Email ktarch@teikav.edu.gr John N. Lygouras Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi 67100 Greece Email ilygour@ee.duth.gr Philippos G. Tsalides Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi 67100 Greece Email tsalides@ee.duth.gr Received 30 December 2003 Revised 18 August 2004 A path generation method for robot-based welding systems is proposed. The method that is a modification of the method teaching by showing is supported by the recently developed pseudo stereovision system PSVS . A path is generated by means of the target-object TOB PSVS and the pseudo stereo visual servo control scheme proposed. A part of the new software application called humanPT permits the communication of a user with the robotic system. Here PSVS the robotic system the TOB the estimation of robot poses by means of the TOB and the control and recording algorithm are described. Some new concepts concerning segmentation and point correspondence are applied as a complex image is processed. A method for calibrating the endpoint of TOB is also explained. Experimental results demonstrate the effectiveness ofthe proposed system. Keywords and phrases path generation pseudo stereovision system robotic application HumanPT target-object calibration complex image. 1. INTRODUCTION A robotic manipulator could be used in an arc-welding system. In a system like this many problems may be encountered. Some of them are 1 the movement accuracy of a torch .