An active 3D robot vision system for robotic welding applications

• Autorzy: Lilas T. , Kollias S.
• Języki publikacji: EN

Abstrakty

EN

In this paper we present development of an active three-dimensional robot vision system, conducted on a large gantry-type welding-robot. The constraints are a complex working environment and the size of the robot system, tackled by developing and using technoques from several research fields. In particular, laser lighting is combined with stereo vision and photogrammetry in order to obtain accurate three-dimensional measurements. Computational geometry methods based on Delaunay triangulations are used to generate a three-dimensional model of the object. Pattern matching and segmentation techniques are used to evaluate the model and identify its important features. Path planning techniques are used for guiding the tool around the object and adapting trajectories to fulfill the welding requirements. The proposed active vision system significantly increases the potential of the welding robot system, constituting a sophisticated sensor system that is effective for robotic applications.

Słowa kluczowe

EN

active vision system; vision system configuration; vision system architectute; vision system calibration; 3D range data; feature extraction; path planning

• Wydawca: Institute of Information Technology of the Warsaw University of Life Sciences – SGGW
• Czasopismo: Machine Graphics and Vision
• Rocznik: 2000
• Tom: Vol. 9, No. 4
• Strony: 743--762
• Opis fizyczny: Bibliogr. 25 poz.

Twórcy

autor

Lilas T.

autor

Kollias S.

• Dept. of Electrical and Computer Engineering, National Technical University of Athens, Zagrofou, Athens, 15773, Greece,