Automatic robot stud welding on car bodies requires precise location of the car in three spaces. This paper describes the vision system utilized to locate a car by referencing door corners. The reference points are used to calculate a robot trajectory for the stud weld operation. The paper begins with a set of objectives and constraints for the vision system. A description of the vision system follows. The utilization of a combination of structured light and diffuse flood lighting is shown to be a solution to the unique constraints of the system. Finally, comments on system performance and installation difficulties are presented.
A vision system to locate car bodies
Ein Erkennungssystem zum Orten von Karosserien
1986
6 Seiten
Conference paper
English
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