基于优化ICP算法的焊接机器人免编程控制系统  

No-Coding Control System for Welding Robot Based on Optimized ICP Algorithm

作　　者：吴艳明 王金娜 尹晨豪 郭文松 邹怡蓉 WU Yanming;WANG Jinna;YIN Chenhao;GUO Wensong;ZOU Yirong(Luoyang Ship Material Research Institute,Luoyang 471023,China;Ultramarine Intelligent Technology(Nanjing)Co.,Ltd.,Luoyang 471023,China)

机构地区：[1]中国船舶集团有限公司第七二五研究所,河南洛阳471023 [2]群青华创(南京)智能科技有限公司,河南洛阳471023

出　　处：《材料开发与应用》2023年第5期51-57,共7页Development and Application of Materials

摘　　要：随着船舶行业装备技术的迅速提升,焊接机器人逐步成为加工主力。面对日益增长的生产需求,新一代工业机器人逐步暴露出智能化水平不足、易用性不高的缺点,使得企业转型陷入困局,船舶行业发展亟需智能且易用的焊接机器人。本研究设计了一种焊接机器人免编程控制系统,通过优化最近点迭代算法,实现了亚毫米级定位精度。With the rapid improvement of equipment and technology in the shipbuilding industry,welding robots have gradually become the main force of processing.In the face of increasing production demand,the shortcomings of insufficient intelligence and difficult operation of industrial robots are gradually exposed,which makes the transformation of enterprises into a dilemma.The development of the shipbuilding industry urgently needs intelligent and easy-to-use welding robots.In the study,we design a no-coding welding robot control system.By optimizing the iterative closest point algorithm,submillimeter-level positioning accuracy is achieved.

关 键 词：船舶焊接 免编程机器人控制系统 最近点迭代算法 

分 类 号：TG409[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]