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.
Development of a high-speed visual sensing system for robotic seam-tracking in automobile body sealing
Entwicklung eines visuellen Sensorsystems für die Nahtverfolgung von Robotern beim Abdichten von Autokarosserien
1998
9 Seiten, 7 Bilder, 1 Tabelle, 9 Quellen
Aufsatz (Konferenz)
Englisch
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