| With the development of various modern manufacturing technologies, it is the certain trend to achieve automatic,flexible and intelligent manufacturing process of welding products. In automatic welding, leading and tracking are the two key points to achieve automation. Since Visual sensing technology has been developed so fast, it is more and more popular to be applied in automatic welding. In this paper, not only both domestic and overseas researching conditions of seam tracking was analyzed ,but also 2D robot seam tracking system, which is based on visual sensing technology, was designed and realized .Software and hardware of the seam tracking system has been designed in the paper, framework of the system has been established as well. The basic principle of the system is as follows: At first we obtain a seam tracking path through getting a seam image, which will then be processed by a computer, and then transform the path to robot motion path, finally a robot automatic seam tracking process is realized.More details about the work in this paper include: selecting suitable hardware to establish the system, designing a visual sensor, analyzing design of the sensor and finishing design of mechanical structure of each part of the sensor, then calibrating the camera and sensor. studying image processing technology, picking seam interest points from seam images with two methods that are image processing and model matching and comparing the two methods, designing system calibration algorithm and working out the transform relationship of the interest-point offsets between image coordinates and robot coordinates, programming based on VC to accomplish the communication between PC and robot through serial port,programming by RAPID on robot controller to realize serial communication and robot automatic tracking and at last following the particular steps to perform experiments on 2D robot seam tracking and analyzing the experiment data. All the work above has proved that the system is feasible. |
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