Novel Real-Time Seam Tracking Algorithm Based on Vector Angle and Least Square Method

作     者：Guanhao Liang Qingsheng Luo Zhuo Ge Xiaoqing Guan 

作者机构：School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Academic Affairs OfficeBeijing PolytechnicBeijing 100176China 

出 版 物：《Journal of Beijing Institute of Technology》 (北京理工大学学报（英文版）)

年 卷 期：2017年第26卷第2期

页      面：150-157页

核心收录：

学科分类：0810[工学-信息与通信工程] 08[工学] 080202[工学-机械电子工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Supported by Ministerial Level Advanced Research Foundation(65822576) Beijing Municipal Education Commission(KM201310858004,KM201310858001) 

主　　题：real-time seam tracking real-time seam detection laser scanner vector angle leastsquare method algorithm research 

摘      要：Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.