焊接机器人轨迹跟踪研究现状.PDF

科技关注 机械制造文摘———焊接分册 焊接机器人轨迹跟踪研究现状 ， 学勤 吕健 吕 ( ， 200090 ) 上海电力学院自动化工程学院 上海 : ， ， 摘要 各类传感器和智能控制方法极大促进了机器人在焊缝跟踪中的应用 不仅提高了焊缝跟踪的精度 同时提高了焊接 。 ， ; 效率和保证了焊接质量 简述了机器人焊缝跟踪系统的结构 详述了焊缝跟踪过程中各类传感器的工作原理及其特点 ， 、 阐述了图像处理技术在机器人焊缝轨迹跟踪过程中的研究进展 并对图像的预处理 图像分割与边缘检测和特征提取等 。 ， 。 研究方法进行了分析 最后 总结了智能控制方法在焊缝跟踪中研究进展及不同形状的焊缝跟踪情况 关键词: 焊接机器人; 焊缝跟踪; 控制方法 中图分类号: TP242 The research status of seam tracking for welding robot Lü Jian ，Lü Xueqin ( Shanghai University of Electric Power ，Shanghai 200090 ，China) Abstract: Various kinds of sensors and intelligent control methods were applicated in the welding robot ，it has greatly promoted the application of the robot in welding seam tracking． And it has not only improved the preci- sion of seam tracking ，but also improved the welding efficiency and welding quality． The structure of the seam tracking system was described ，and the sensors used in the seam tracking process and its working principle were also described． The image processing technologies ，such as pre-processing ，image segmentation ，edge detection ， feature extraction and so on ，were analyzed． Finally ，the intelligent control and the seam tracking method with dif- ferent weld lines was also summarized． Key words: welding robot; seam tracking; control method