飞机导管机器人焊接手眼关系标定  

Hand-Eye Calibration in Robot Welding of Aero Tube

作　　者：张宗郁[1] 高洪明[1] 韩庆璘 黄锐[2] 荣建[2] 王勇超[2] 

机构地区：[1]哈尔滨工业大学先进焊接与连接国家重点实验室,哈尔滨150001 [2]中航工业成都飞机工业(集团)有限责任公司,成都610092

出　　处：《上海交通大学学报》2015年第3期392-394,401,共4页Journal of Shanghai Jiaotong University

摘　　要：针对目前国内航空飞机导管焊接主要采用手工钨极氩弧焊的现状,提出了导管数字化焊接思路,对该系统中涉及的机器人手眼关系标定进行了研究.通过在META焊缝跟踪传感器安装距离处建立摄像机坐标系,利用一台三坐标仪完成了机器人的手眼关系标定.结果表明:此标定方法精度为±0.4mm,满足飞机导管数字化焊接的要求.Based on the current domestic situation that the welding of aero tube is mainly the manual gas tungsten arc welding, a digital welding of aero tube was proposed. The hand-eye calibration of robot in- volved in the system was studied. By establishing the camera coordinate system in the installation distance of META seam tracking sensor, the hand-eye calibration is completed using a three dimensional measuring machine. The results show that the calibration accuracy of this method is ±0.4 mm, which meets the re- quirement of the digital welding of aero tube.

关 键 词：导管数字化焊接 手眼标定 三坐标仪 焊缝跟踪传感器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]