机器人焊缝中心三维定位的解析方法

机器人焊接过程中焊缝三维空间中心位置的确定是焊缝自动跟踪系统重要的一环.由于多数焊缝为直线,且实际的焊缝在小范围内可近似为直线,因而特征点的空间坐标确定以后如何确定直线是问题的关键所在.在焊缝特征点确定以后,根据空间解析几何的定位原理,结合最小二乘法,首先给出了焊缝中心线的确定原则,其次,按直线的点向式方程,利用焊缝特征点的全息,给出了中心直线的点和方向向量确定的解析方法.

Analytical Method for Three-Dimensional Positioning of Robot Welding Seam Centre

Ascertaining the three-dimensional central position of the welding line in robot welding process is an important issue in automatic welding seam tracing system.Because in most cases the welding goes on a straight line,the actual seam within a small area can also be treated approximately as a straight line;and after getting the coordinates of the eigen points,the positioning of this line becomes the key problem.Based on positioning theory in space analytic geometry,together with least square method,proposes the principle for determining the certral seam line;then uses line's pointdirection form equation,combined with holographical information of seam's eigan points,providesan analytical algorithm for ascertaining the point & direction vector of the central line.