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Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System
Division of Electrical, Electronic and Computer Engineering, Chonbuk National University, Jeonju 561-756, Korea
Department of Mechanical Engineering, Chonbuk National University, Jeonju 561-756, Korea
* Author to whom correspondence should be addressed.
Received: 21 July 2009; in revised form: 9 September 2009 / Accepted: 22 September 2009 / Published: 23 September 2009
Abstract: In this study, we propose a precise 3D lug pose detection sensor for automatic robot welding of a lug to a huge steel plate used in shipbuilding, where the lug is a handle to carry the huge steel plate. The proposed sensor consists of a camera and four laser line diodes, and its design parameters are determined by analyzing its detectable range and resolution. For the lug pose acquisition, four laser lines are projected on both lug and plate, and the projected lines are detected by the camera. For robust detection of the projected lines against the illumination change, the vertical threshold, thinning, Hough transform and separated Hough transform algorithms are successively applied to the camera image. The lug pose acquisition is carried out by two stages: the top view alignment and the side view alignment. The top view alignment is to detect the coarse lug pose relatively far from the lug, and the side view alignment is to detect the fine lug pose close to the lug. After the top view alignment, the robot is controlled to move close to the side of the lug for the side view alignment. By this way, the precise 3D lug pose can be obtained. Finally, experiments with the sensor prototype are carried out to verify the feasibility and effectiveness of the proposed sensor.
Keywords: automatic robot welding; structured-light vision system; lug pose detection
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Park, J.B.; Lee, S.H.; Lee, I.J. Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System. Sensors 2009, 9, 7550-7565.
Park JB, Lee SH, Lee IJ. Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System. Sensors. 2009; 9(9):7550-7565.
Park, Jae B.; Lee, Seung H.; Lee, Il J. 2009. "Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System." Sensors 9, no. 9: 7550-7565.