| 机器人圆形焊缝三维定位方法 |
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| 引用本文： | 郭学军,王喜平,李铁柱.机器人圆形焊缝三维定位方法[J].数学的实践与认识,2009,39(15). |
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| 作者姓名： | 郭学军 王喜平 李铁柱 |
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| 作者单位： | 1. 南阳理工学院应用数学系,河南,南阳,473004
2. 东南大学交通学院,江苏,南京,210096 |
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| 基金项目： | 河南省教育厅自然科学基金，河南省教育厅科技攻关项目 |
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| 摘 要： | 自动化寻迹焊接过程中有许多焊缝为圆形,在焊缝特征点的坐标确定以后如何确定圆形焊缝的中心轨迹线是至关重要的.利用空间解析几何的原理,结合最小二乘法,既利用焊缝的已知信息又利用了实时监测点的信息,给出了圆形焊缝三维空间中心位置的确定方法.实验表明,该方法具有较高的精度和较强的实用性.
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| 关 键 词： | 机器人 焊缝 中心线 空间定位 |
The Method for Three-dimensional Positioning of Circular Robot Seam |
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| GUO Xue-jun,WANG Xi-ping,LI Tie-zhu.The Method for Three-dimensional Positioning of Circular Robot Seam[J].Mathematics in Practice and Theory,2009,39(15). |
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| Authors: | GUO Xue-jun WANG Xi-ping LI Tie-zhu |
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| Abstract: | Many seams in automatic tracing welding are circular,and after the determination of the coordinates of seam′s eigen points,the positioning of the center locus becomes the key issue.Based on the principle of space analytic geometry,combining the least-square method,using known information of the seam as well as the real-time monitoring points,proposes an algorithm of determining the three-dimensional center position of circular weld seam.Tests show that this algorithm has higher precision and stronger practicability. |
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| Keywords: | robot welding seam centerline spatial positioning |
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