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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

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


    Contributors:
    Kakizaki, T. (author) / Arakawa, K. (author) / Yanagihara, Y. (author) / Umeno, A. (author) / Mochizuki, K. (author) / Omyo, S. (author)


    Publication date :

    1998


    Size :

    9 Seiten, 7 Bilder, 1 Tabelle, 9 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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

    Kakizaki,T. / Arakawa,K. / Yanagihara,Y. et al. | Automotive engineering | 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


    Laser Seam Tracking for Robotic Arc Welding

    Noruk, J. / Lefebvre, R. R. | British Library Online Contents | 1996


    Automated vehicular seam sealing system

    Urbaniak, D.F. / Andrews, D.L. | Tema Archive | 1985