Abstract
A visual serving control method which harmonizes the torch motion with visual tracking is proposed for robot tracking weld seams shaped curve. Firstly, a mathematical model for feature points is established, and then rotation axis is computed. A fuzzy visual serving controler with two-layers structure is designed to keep image features among vision field by computing valid range of control outputs. In order to get precise valid range of control output, a state estimator based on Kalman filter with dynamic model compensation is designed. The proposed method is verified by tracking experiments.
| Original language | English |
|---|---|
| Pages (from-to) | 405-409 |
| Number of pages | 5 |
| Journal | Kongzhi yu Juece/Control and Decision |
| Volume | 21 |
| Issue number | 4 |
| Publication status | Published - Apr 2006 |
| Externally published | Yes |
Keywords
- Structured light vision
- Tracking weld seams shaped curve
- Visual serving control
- Welding robot