한국레이저가공학회:학술대회논문집 (Proceedings of the Korean Society of Laser Processing Conference)
- 한국레이저가공학회 2005년도 춘계학술발표대회 논문집
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- Pages.3-8
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- 2005
시각센서를 이용한 용접 Gap/Profile 모니터링
Monitoring the Welding Gap/Profile with Visual Sensor
초록
The robot systems are widely used in the welding manufacturing. The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot automation, many kinds of contact and non-contact of the system which monitors the shape of the welding part is described. This system uses the line-type structured laser diode and the visual sensor. It includes the correction of radial distortion which is often found in the image from the camera with short focal length. Direct Linear Transformation (DLT) is used for the camera calibration. The three dimensional shape of the parent metal is obtained after simple linear transformation. Therefore, the system operates in real time. Some experiments are carried out to evaluate the performance of the developed system.