Visual Servoing Control in Robot Welding Application

• Main Authors: Wha-Tin Ji, 嵇華廷
• Other Authors: Shir-Kuan Lin
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/72138204960816845308

碩士 === 國立交通大學 === 電機與控制工程系 === 87 === In recent years, the shortage of laborers has become a serious problem in the field of building. It is important to improve automatic and working efficiency in our society. In this thesis we present a visual servoing control system to simulate and discuss the feasible in automatic robot welding system. First we take two metal blocks as our object need to be welded. Take the object image from camera and use image process method to get features of it, then caculate the object position opposite to the camera center frame using thress dimension position estimation method. Finally drive the camera center move along the connected line with fixed distance and volicity to simute the automatic robot welding work as our experment. A system with visual servoing control method has been present in this thesis. We can use this system to drive the robot simulating automatic welding. If we want to construct a real automatic visual robot welding system in the furture, it will also get good result according this thesis.