Automatic teaching of stereovision-guided welding robot using ant colony optimization algorithm  

作　　者：李鹤喜 石永华 王国荣 

机构地区：[1]School of Mechanical and Automotive Engineering, South China University of Technology,Guangzhou, 510640. [2]School of Computer Science, Wuyi University, Jiangmen, 5290201

出　　处：《China Welding》2010年第1期37-42,共6页中国焊接（英文版）

摘　　要：A binocular stereovision system with a linear laser emitter is developed to detect seam position and its orientation, employing acquired 3-dimensional seam data, the automatic teaching of welding robot is implemented using a controlling strategy based on ant colony optimization（ ACO ） algorithm, in which the angle increment of robot joint is discretized as the nodes of ACO graph and a corresponding pheromone updating strategy is presented. The experimental results for curvilinear seams and saddle-shaped seams show that the automatic teaching of welding robot can be successfully completed using the ACO-based controlling strategy under the guidance of stereovision, and the welding trajectory generated by the proposed method has higher accuracy and less setting time compared with conventional proportional-integral-differential （PID） controller and fuzzy controller.A binocular stereovision system with a linear laser emitter is developed to detect seam position and its orientation, employing acquired 3-dimensional seam data, the automatic teaching of welding robot is implemented using a controlling strategy based on ant colony optimization（ ACO ） algorithm, in which the angle increment of robot joint is discretized as the nodes of ACO graph and a corresponding pheromone updating strategy is presented. The experimental results for curvilinear seams and saddle-shaped seams show that the automatic teaching of welding robot can be successfully completed using the ACO-based controlling strategy under the guidance of stereovision, and the welding trajectory generated by the proposed method has higher accuracy and less setting time compared with conventional proportional-integral-differential （PID） controller and fuzzy controller.

关 键 词：STEREOVISION automatic teaching ROBOT ant colony optimization 

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]