CN109986238B - 机器人类线形柔性作业视觉模糊仿形控制方法 - Google Patents
机器人类线形柔性作业视觉模糊仿形控制方法 Download PDFInfo
- Publication number
- CN109986238B CN109986238B CN201711477715.6A CN201711477715A CN109986238B CN 109986238 B CN109986238 B CN 109986238B CN 201711477715 A CN201711477715 A CN 201711477715A CN 109986238 B CN109986238 B CN 109986238B
- Authority
- CN
- China
- Prior art keywords
- area
- image
- current position
- axis
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
Description
屏幕区域 | A | B | C | D | E | F | G | H | I |
运动轴 | Y | Z | Y | Z | Y | Y | Z | Z | Y |
轴运动方向 | 1 | 1 | 1 | -1 | -1 | -1 | -1 | 1 | 1或-1 |
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711477715.6A CN109986238B (zh) | 2017-12-29 | 2017-12-29 | 机器人类线形柔性作业视觉模糊仿形控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711477715.6A CN109986238B (zh) | 2017-12-29 | 2017-12-29 | 机器人类线形柔性作业视觉模糊仿形控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109986238A CN109986238A (zh) | 2019-07-09 |
CN109986238B true CN109986238B (zh) | 2021-02-26 |
Family
ID=67108871
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711477715.6A Active CN109986238B (zh) | 2017-12-29 | 2017-12-29 | 机器人类线形柔性作业视觉模糊仿形控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN109986238B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113002181B (zh) * | 2021-02-09 | 2022-05-27 | 深圳市丹芽科技有限公司 | 一种美甲机墨盒槽控制方法、装置、设备及存储介质 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1676287A (zh) * | 2004-03-31 | 2005-10-05 | 发那科株式会社 | 机器人示教装置 |
CN101486124A (zh) * | 2009-02-13 | 2009-07-22 | 南京工程学院 | 多结构光双目复合视觉焊缝跟踪方法及装置 |
CN102566574A (zh) * | 2012-01-20 | 2012-07-11 | 北人机器人系统(苏州)有限公司 | 一种基于激光传感的机器人轨迹生成方法及装置 |
CN103208186A (zh) * | 2013-03-19 | 2013-07-17 | 北京万集科技股份有限公司 | 一种激光三维扫描车辆的方法及装置 |
DE102014101568A1 (de) * | 2014-02-07 | 2015-08-13 | Blackbird Robotersysteme Gmbh | Verfahren und Vorrichtung zum Laserschweißen oder -schneiden mit einem dynamisch anpassbaren Analysebereich |
CN106325731A (zh) * | 2015-07-03 | 2017-01-11 | Lg电子株式会社 | 显示装置及其控制方法 |
-
2017
- 2017-12-29 CN CN201711477715.6A patent/CN109986238B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1676287A (zh) * | 2004-03-31 | 2005-10-05 | 发那科株式会社 | 机器人示教装置 |
CN101486124A (zh) * | 2009-02-13 | 2009-07-22 | 南京工程学院 | 多结构光双目复合视觉焊缝跟踪方法及装置 |
CN102566574A (zh) * | 2012-01-20 | 2012-07-11 | 北人机器人系统(苏州)有限公司 | 一种基于激光传感的机器人轨迹生成方法及装置 |
CN103208186A (zh) * | 2013-03-19 | 2013-07-17 | 北京万集科技股份有限公司 | 一种激光三维扫描车辆的方法及装置 |
DE102014101568A1 (de) * | 2014-02-07 | 2015-08-13 | Blackbird Robotersysteme Gmbh | Verfahren und Vorrichtung zum Laserschweißen oder -schneiden mit einem dynamisch anpassbaren Analysebereich |
CN106325731A (zh) * | 2015-07-03 | 2017-01-11 | Lg电子株式会社 | 显示装置及其控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN109986238A (zh) | 2019-07-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111014879B (zh) | 一种基于激光焊缝跟踪的机器人波纹板自动焊接方法 | |
KR100311663B1 (ko) | 여유축을이용하여물체의외형을추적하는장치및방법 | |
CN106238969B (zh) | 基于结构光视觉的非标件自动化焊接加工系统 | |
Baeten et al. | Hybrid vision/force control at corners in planar robotic-contour following | |
CN111192307B (zh) | 基于激光切割三维零部件的自适应纠偏方法 | |
CN205650975U (zh) | 基于结构光视觉的非标件自动化焊接加工系统 | |
KR20160010868A (ko) | 비전을 갖는 자동화 기계가공 헤드 및 방법 | |
JPH0431836B2 (zh) | ||
CN102581445A (zh) | 机器人的视觉实时纠偏系统和纠偏方法 | |
CN113798634B (zh) | 空间环形焊缝示教与焊缝跟踪方法、系统及设备 | |
WO2020183026A3 (de) | Verfahren zur ansteuerung einer bearbeitunsgmaschine oder eines industrieroboters | |
JP7000361B2 (ja) | 追随ロボットおよび作業ロボットシステム | |
CN114769988A (zh) | 一种焊接控制方法、系统、焊接设备及存储介质 | |
Huang et al. | High-performance robotic contour tracking based on the dynamic compensation concept | |
CN112122842A (zh) | 一种基于激光视觉的Delta焊接机器人系统 | |
CN109986255B (zh) | 混合视觉伺服并联机器人及作业方法 | |
CN109986238B (zh) | 机器人类线形柔性作业视觉模糊仿形控制方法 | |
CN111716355A (zh) | 机器人绝对定位精度补偿系统及方法 | |
Mun et al. | Sub-assembly welding robot system at shipyards | |
CN207205613U (zh) | 一种基于视觉提取的异型工件的焊接系统 | |
CN113369686A (zh) | 一种基于二维码视觉示教技术的智能焊接系统及方法 | |
JP2022530589A (ja) | ロボット搭載移動装置、システム及び工作機械 | |
CN111880474A (zh) | 一种z轴自适应激光加工系统及其加工方法 | |
CN114485631B (zh) | 一种惯性器件自动化装配系统 | |
CN113909765B (zh) | 一种引导焊接系统 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: 518063 Shenzhen national engineering laboratory building b1001-b1004, No. 20, Gaoxin South seventh Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee after: SHENZHEN CIMC SECURITY AND SMART TECHNOLOGY Co.,Ltd. Patentee after: SHENZHEN CIMC TECHNOLOGY Co.,Ltd. Patentee after: Guangdong CIMC Intelligent Technology Co.,Ltd. Patentee after: CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) Ltd. Address before: Room 102, block a, phase II, science and technology building, 1057 Nanhai Avenue, Shekou, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN CIMC SECURITY AND SMART TECHNOLOGY Co.,Ltd. Patentee before: SHENZHEN CIMC TECHNOLOGY Co.,Ltd. Patentee before: DONGGUAN CIMC INTELLIGENT TECHNOLOGY Co.,Ltd. Patentee before: CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230417 Address after: 518063 Shenzhen national engineering laboratory building b1001-b1004, No. 20, Gaoxin South seventh Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee after: SHENZHEN CIMC SECURITY AND SMART TECHNOLOGY Co.,Ltd. Patentee after: SHENZHEN CIMC TECHNOLOGY Co.,Ltd. Patentee after: Guangdong CIMC Intelligent Technology Co.,Ltd. Address before: 518063 Shenzhen national engineering laboratory building b1001-b1004, No. 20, Gaoxin South seventh Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee before: SHENZHEN CIMC SECURITY AND SMART TECHNOLOGY Co.,Ltd. Patentee before: SHENZHEN CIMC TECHNOLOGY Co.,Ltd. Patentee before: Guangdong CIMC Intelligent Technology Co.,Ltd. Patentee before: CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) Ltd. |