A high-speed visual sensing system for robotic seam-tracking in automobile body sealing is developed. Based on technology that has sub-mm sensing accuracy for thigh-speed seam-tracking of a complicated seam with position tolerance, an advanced sealing robotic system minimizing the necessary sealant is achieved. The featured technologies are as follows: 1) A compact and high-speed laser range-finder mounted on a robotic manipulator of high-speed spatial motion; 2) an adaptive seam-recognition algorithm which accurately determines the seam feature point by detecting the noticeable gap in the non-uniform range profile data; 3) a high-speed trajectory planner supplying stable and well-timed servo references for a sealing-gun actuator by suppressing the sensor data noise; 4) a sensor-enhanced teaching advisor utilizing a graphical user interface. Results obtained in field testing with almost 10000 bodies on an automobile sealing line show significant sealant cost reduction and reliable system performance.


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    Titel :

    Development of a high-speed visual sensing system for robotic seam-tracking in automobile body sealing


    Weitere Titelangaben:

    Entwicklung eines visuellen Sensorsystems für die Nahtverfolgung von Robotern beim Abdichten von Autokarosserien


    Beteiligte:
    Kakizaki, T. (Autor:in) / Arakawa, K. (Autor:in) / Yanagihara, Y. (Autor:in) / Umeno, A. (Autor:in) / Mochizuki, K. (Autor:in) / Omyo, S. (Autor:in)


    Erscheinungsdatum :

    1998


    Format / Umfang :

    9 Seiten, 7 Bilder, 1 Tabelle, 9 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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    Kakizaki,T. / Arakawa,K. / Yanagihara,Y. et al. | Kraftfahrwesen | 1998


    Development of a High-Speed Visual Sensing System for Robotic Seam-Tracking in Automobile Body Sealing

    Kakizaki, T. / Arakawa, K. / Yanagihara, Y. et al. | British Library Conference Proceedings | 1998


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