Robotic Curve-Shaped Seam Tracking System Using Vision Sensor

Feng Xin Gao

doi:10.4028/www.scientific.net/AMM.397-400.1486

Paper Titles

Design of Automatic Tracking System Based on FPGA and Binocular Vision
p.1469

The Design of the Intelligent EOD Manipulator with Five DOF
p.1473

Robust Adaptive Control for Robotic Manipulators Based on RBFNN
p.1477

Development of Quality Detecting System for Micro Holes by ECM Based on Machine Vision Technology
p.1482

Robotic Curve-Shaped Seam Tracking System Using Vision Sensor
p.1486

Fuzzy Control for Underactuated Manipulator
p.1490

A Novel Texture Spectrum Descriptor
p.1494

True Color Image Enhanced by Wavelet Illumination-Reflection Model
p.1500

An Algorithm to Transform Tolerance-Control Solutions of Interval Linear Equations
p.1506

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 397-400Robotic Curve-Shaped Seam Tracking System Using...

Robotic Curve-Shaped Seam Tracking System Using Vision Sensor

Abstract:

This paper presents a vision-based curve-shaped seam tracking system. The measurement of the curve trajectory is based on a camera that is installed ahead of the end effector of the robot. Effective image processing method is designed to extract the feature points of the curve. Then a fuzzy controller is proposed to control the position of the robot to track the curve. To improve the performance of the controller, a self-tuning mechanism is added to the controller. Finally, experiments are fully conducted to verify the effectiveness of the proposed method.

You might also be interested in these eBooks

Advanced Design and Manufacturing Technology III

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 397-400)

Pages:

1486-1489

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.397-400.1486

Citation:

Cite this paper

Online since:

September 2013

Authors:

Feng Xin Gao

Keywords:

Fuzzy Controller, Robot, Seam Tracking, Vision Measurement

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] H. Fennander, V. Kyrki, A. Fellman, A. Salminen and H. Kalviainen, Visual measurement and tracking in laser hybrid welding, Machine Vision and Application. 20 (2009) 103-118.

DOI: 10.1007/s00138-007-0111-1

Google Scholar

[2] M. Y. Kim, K. W. Ko, H. S. Cho, and J. H. Kim, Visual sensing and recognition of welding environment for intelligent shipyard welding robots, In Proceedings of IEEE International Conference on Intelligent Robotical Systems, 2000, pp.2159-2165.

DOI: 10.1109/iros.2000.895290

Google Scholar

[3] S. K. Lee, S. J. Na. A study on automatic seam tracking in pulsed laser edge welding by using a vision sensor without auxiliary light source, International Journal of Manufacturing System, 21 (2002) 302-315.

DOI: 10.1016/s0278-6125(02)80169-8

Google Scholar

[4] L. K. Wang, D. Xu, Y. Li, M. Tan. Harmonious visual servoing control for tracking weld seams shaped curve, Control and Decision. 21 (2006) 406-409.

Google Scholar

[5] S. Hutchinson, G. D. Hager, P. I. Corke. A tutorial on visual servo control, IEEE Transactions on Robotics and Automation. 12 (1996) 651-670.

DOI: 10.1109/70.538972

Google Scholar

[6] J. R. Layne, K. M. Passino. Fuzzy model reference learning control, Journal of Intelligent Fuzzy Systems, 4 (1996) 33-47.

DOI: 10.3233/ifs-1996-4103

Google Scholar

[7] G. Langari, M. Tomizuka, Self organizing fuzzy linguistic control with application to arc welding. In Proceedings of IEEE International Workshop on Intelligent Robotical System, 1996, pp.33-47.

DOI: 10.1109/iros.1990.262528

Google Scholar