Automatic welding control method based on hand-eye coordination of mechanical arm

A hand-eye coordination and autonomous welding technology, applied in manipulators, program-controlled manipulators, welding equipment, etc., can solve problems such as fatigue-prone operation efficiency, difficulty in welding positioning at the end of the manipulator, and heavy mental burden on operators.

Inactive Publication Date: 2016-05-04
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

The present invention solves the problems that existing welding basically adopts simple manual remote operation, manual teaching assistance, off-line programming and other methods,...

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  • Automatic welding control method based on hand-eye coordination of mechanical arm
  • Automatic welding control method based on hand-eye coordination of mechanical arm
  • Automatic welding control method based on hand-eye coordination of mechanical arm

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Embodiment

[0065] Such as figure 1 , 2 shown. The invention discloses an autonomous welding control method based on hand-eye coordination of a mechanical arm, which can be realized through the following steps:

[0066] (1) Manual remote operation of the manipulator, so that the binocular vision moves along the weld seam to measure the coordinates of the weld seam within the optimal range of the distance from the weld seam, and converts the measured weld seam coordinates from the measurement base coordinates of the binocular vision to the manipulator base coordinates;

[0067] (2) Calculate the operation pose matrix of each point of the weld;

[0068] (3) calling the kinematics inverse transformation method to obtain the angle sequence of each joint inverse solution of the manipulator;

[0069] (4) Manually set the operation parameters to complete one-time welding.

[0070] The optimal range of the binocular vision in the above step (1) at the distance from the weld refers to selecti...

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Abstract

The invention discloses an automatic welding control method based on hand-eye coordination of a mechanical arm. The automatic welding control method includes the steps that (1) a manipulator is remotely operated manually, the coordinates of a weld joint are movably measured by a binocular vision system along the weld joint in the optimal range away from the weld joint, and the measured coordinates are converted into base coordinates of the manipulator from measurement base coordinates of the binocular vision system; (2) an operation position matrix of all points of the weld joint are calculated; (3) a kinematic inverse transformation method is called for obtaining an angle sequence of each joint inverse solution of the manipulator; and (4) operation parameters are set manually, and one-time welding is completed. According to the automatic welding control method based on hand-eye coordination of the mechanical arm provided by the invention, a remotely-operable six-degree-of-freedom welding robot with a binocular vision positioning function is used for replacing manual teaching assistance, an off-line programming method is applied, and therefore the positioning difficulty of tail-end welding of the manipulator is reduced, the mental burden on an operator is relieved, and the working efficiency is greatly improved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to an autonomous welding control method based on hand-eye coordination of a mechanical arm. Background technique [0002] With the continuous development of science and technology, and the rapid increase in the field of robots replacing manual labor, the use of robots for operations, reducing the difficulty of handling, and avoiding accidents by staff are of great significance to improving the overall technical level of science and technology and operating efficiency. [0003] The existing vehicle-mounted manipulator robots in the world include crawler "trolley", "super trolley" MPR-800 multifunctional intelligent robot, "Andrews HD-I" robot, "Spirit A" and "Spirit B" platoons Explosive robot, "RAPTOP-EOD" medium-sized EOD robot, etc. The control system is a crucial part of the robot. The core of the control system is hand-eye coordination, inverse motion algorithm and continuous traje...

Claims

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Application Information

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IPC IPC(8): B23K37/02B25J9/16
CPCB23K37/0252B25J9/1694
Inventor 张攀峰谢小鹏余一林李盛前殷莉甜蒋梁中
Owner SOUTH CHINA UNIV OF TECH
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