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ID:39761976
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页数:25页
时间:2019-07-11
《Vision-Based Path Generation Method》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、JIntellRobotSyst(2007)48:307–331DOI10.1007/s10846-006-9076-yVision-BasedPathGenerationMethodforaRobot-BasedArcWeldingSystemTheodoreP.Pachidis&JohnN.LygourasReceived:7June2006/Accepted:19August2006/Publishedonline:12October2006#SpringerScience+BusinessMediaB.V.2006AbstractInthispaperavis
2、ion-basedintegratedmethodintendedforpathgenerationforarobot-basedarcweldingsystem,ispresented.Thedescribedsystemiscomposedoftherecentlydevelopedpseudostereovisionsystem(PSVS)oranordinarystereovisionsystemandtherelatedsoftware.Adesiredpathcanbegenerated,usingapartortheentireedgeofanimage
3、capturedfromasceneoftheroboticenvironment,alinemanuallydesignedintheimage,acombinationoflinesofthepreviouscasesorlinesbelonginginsuccessiveimagescapturedfromdifferentscenes.Ausercaninitiallyprocessimagesselectingbymeansofpulldownmenusavarietyoffilters,edgedetectionmethodsandoperations.T
4、henthedesiredpathasacombinationoflinesisselectedfromimages.Applyingourcorrespondencealgorithm,correspondingedgescanbefound.Finally,anumberofsuccessivepathpointsarecalculatedbymeansoftheproposedpathpointcalculationalgorithm.Inonlineoperation,thevisionsystemmountedontheend-effectorcancapt
5、ureimageswiththedesiredbestview(weldingview)ofascenebymovingorrotating(usingpushbuttons)theendeffectoroftheroboticmanipulator–PUMA761.Otherfacilitiesofthedescribedsystemaretheselectionofavarietyofcolorsandshapes,histogramview,desiredmagnification,systeminformationandautomaticexecutionof
6、user-selectedoperations.ThegraphicaluserinterfaceisdevelopedinVisualC++,itrunsinapersonalcomputerandcommunicateswiththeroboticmanipulator(PUMA761)throughALTERcommunicationport.Keywordsarcwelding.graphicaluserinterface.imageprocessing.pathgeneration.pseudostereovision.roboticmanipulatorT
7、.P.Pachidis(*):J.N.LygourasDepartmentofElectricalandComputerEngineering,DemocritusUniversityofThrace,Vas.Sofias12-67100,Xanthi,Greecee-mail:pated@otenet.grJ.N.Lygourase-mail:ilygour@ee.duth.gr308JIntellRobotSyst(2007)48:307–3311IntroductionAroboticmanipulatorcouldbeusedinanarcw
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