Reasearch Of Hybrid Visual Servoing Control System For Arc Welding Robots

In this paper, the principles and key technologics for robot vision are systemically discussed and analyzed in the view of measurement and control for the aspects such as the configuration of vision system, calibration, visual measurement, and visual control. Some examples of visual control are also provided. This paper consists of five chapters such as introduction, camera and visual system calibration, visual measurement, visual control, and visual system calibration. The introduction consists of basic concepts of visual control for robots,function of visual control for robots, research aspects of visual control for robots,development of visual control for robots and tendency of visual measurement and control. Camera calibration is an indispensable step to obtain 3D geometric information from 2D images. Calibration of a camera with a linear model ( hereafter called a linear camera) has become one of the major research directions in computer vision field. A linear approach is proposed to determine the camera's intrinsic parameters as well as its pose. Experiments with simulated data as well as with real images show that the proposed method is workable, and applicable in real applications. About parameters calibration for structured light vision, laser plane calibration based on active vision method is proposed. Experimental results with real images show that these proposed approaches are accurate. The visual measurement consists of constraints in visual measurement, stereovision and structured light vision of position measurement with stereovision. About visual control and visual control application, hybrid visual control for robotic welding based on structured light vision and harmonious visual servoing control for tracking weld deams shaped curve are proposed. Extensive simulations and experimental results with real images show that these proposed approaches are both accurate and robust.