基于立体视觉的机器人焊接遥操作研究  

Investigation on teleoperation of remote welding based on stereoscopic video images

作　　者：李海超[1] 高洪明[1] 吴林[1] 张广军[1] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,哈尔滨150001

出　　处：《高技术通讯》2006年第6期591-595,共5页Chinese High Technology Letters

基　　金：863计划（2003AA305970）资助项目.

摘　　要：研究了在立体视觉辅助下的机器人焊接遥操作技术。将立体视觉显示技术和机器人遥操作技术相结合，显著提高了焊接遥操作系统的操作性能。自主开发了基于PC的页面交互显示的立体视觉系统，以空间鼠标作为输入机器人控制命令的手控器，精确地控制远端焊接机器人的定位和跟踪焊缝。深入研究了手动跟踪焊缝的控制算法和遥控示教技术，以提高焊接遥操作的灵活性。焊接遥操作在立体视觉辅助下比二维视频监控辅助下跟踪焊缝的精度有大幅度提高，能够遥控示教空间曲线焊缝，系统操作简单，灵活。This paper focuses on the welding teleoperation technology assisted by 3D vision display technology by combining teleoperation with 3D vision display technology. It presents the development and implication of 3D vision display technology based on the page-flipping display mode. The flexible space mouse is used to guide the 6DOF manipulator for welding and manual tracing seam. The control algorithm of manual tracing seam and the control strategy of teleteaching are researched. The experiments results illustrate that the 3D vision-based teleoperation has higher tracing precision and performance than 2D video feedback. Human operator can teach curve welding seam remotely, and the system has the flexibility for performing teleteaching tasks.

关 键 词：遥控焊接 机器人遥操作 立体视觉 遥控示教 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TG409[自动化与计算机技术—计算机科学与技术]