| People need the welding technology in many kinds of industry, such as machinery manufacturing, nuclear industry, and aerospace.But currently, arc welding robot lacks flexibility. Arc welding robot hat works under teaching and playback mode can improve the qulity of weld, whose track is adjusted by machine vision.In this article, the hardware and software of the control system for arc welding robot are researched in detail, as well as many critical technologies. It is helpful to study the control system of arc welding robot that works under teaching and playback mode using wireless communication, whose track is adjusted by machine vision.Specific studies as follows:Firstly, the working principle of control system for arc welding robot is discussed, and mathematics model of the robot is established. The drive for robot's movement is discussed, too;Secondly, there is discussion about the design of hardware and software for the control system;Thirdly, embedded linux system that runs in teaching box is cut and transplanted. The driver of keyboard and user GUI software is developed;Forthly, subsystem of control system is researched. specific calibration on the visual system is researched, too; Image processing, such as gray-scale images, paintings histogram, median filtering, threshold processing, contour extraction, rotate and weld identification and feature points extraction and Weld Automatic Correction technology are investigated;Finally, the control system of arc weld robot has been installed and tested; thought experimentation, arc welding robot can memorize program points correctly under teach mode; when it works under playback mode, arc welding robot can counteract interference. It can locate to welding exactly. It has improved the quality of weld.Control system; Arc welding robot; Machine vision; Embedded linux system... |
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