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

Journal of Beijing Institute of Technology 2017年第2期26卷 150-157页

作者： Guanhao Liang Qingsheng Luo Zhuo Ge Xiaoqing Guan School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Academic Affairs Office Beijing PolytechnicBeijing 100176China

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.

关键词： real-time seam tracking real-time seam detection laser scanner vector angle leastsquare method algorithm research

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