The Research On Visual Servo System Applied In Welding Robot

Welding is the base of manufacture and more than half products of the jointing is achieved by welding in the manufacture. In the future, the trend of the welding developing will be welding automation,robotization and intelligentize, and sensor technology is the most important part of the development. According to intended use,the welding sensor can be classify as detecting the operating environment and monitoring welding process. According to fundamentals of sensor, it can be divided into acoustics, mechanics, electric arc and optical sensing. In this paper, using a CCD image sensor vision, has developed a complete set of image processing algorithms, including image filtering, image segmentation, edge detection, fitting a straight line, and ultimately effective to extract information about the weld centerline, while also meet the requirements of real-time.The welding process is a multi-parameter time-varying coupled nonlinear system. There are many factors affecting the quality of the weld, because of its significant randomness, it is very difficult to us a mathematical model to accurately describe.Because the welding process is a multiparameter intercoupling nonlinear system, there are many factors affect the quality of weld joint, therefore, it is difficult to describe using mathematical model. The previous some of linear control method have a lot of defects about varying degrees dependent on the experience and poor adaptability.it's a very suited way to bring in brainpower controlling means in welding process. This article analyse the fundamental of robot visual servo based on image.Using neural network to ensure the demanded angle of joint in order to get the appoint position, put the vision information into the servo process directly to get the goal of following the welding line accurately,this greatly simplify the control algorithm under the condition of servo precision,and eliminate the influence of system's calibrated error to motion precision,besides this article proceed simulation experiment using MATLAB.and the result shows it's effectiveness.