서지주요정보
로보트 아크용접 공정을 위한 용접 접합부의 시각 인식 및 추종 = Visual recognition and tracking of weld joints for robotic arc welding process
서명 / 저자 로보트 아크용접 공정을 위한 용접 접합부의 시각 인식 및 추종 = Visual recognition and tracking of weld joints for robotic arc welding process / 손영탁.
저자명 손영탁 ; Sohn, Young-Tak
발행사항 [대전 : 한국과학기술원, 1995].
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소장정보

등록번호

8005417

소장위치/청구기호

학술문화관(문화관) 보존서고

MPE 95018

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

The aim of this thesis is to develop a robotic seam tracking system equipped with a visual range finder. The visual range finder, which consists of a CCD camera and a diode laser system with line generating optics, developed to recognize the types of weld joints and detect the 3-dimensional location of weld joints. In practical applications, however, images of the weld joints are heavily degraded due to spatters, arc glares, surface specularity, and welding smoke. To overcome the problem, this thesis proposes a syntactic approach which is a class of artificial intelligence techniques. In the approach, the types of weld joints are inferred based upon the production rules which are linguistic parsing rules consisting of a set of line and junction primitives of laser stripe image projected on weld joint. The production rules eliminate several noisy primitives to create new primitives through the merging process of primitives. After the recognition of weld joint, arc welding is started and the location of weld joints is repeatedly detected using a spring model-based template matching in which the template model is a by-product of the recognition process of weld joint. To show the effectiveness of the proposed approach, a series of experiments on joint type identification and robotic tracking were conducted for four different types of weld joints. The results show that the proposed method is very robust to visual noise and variations in weld joint conditions.

서지기타정보

서지기타정보
청구기호 {MPE 95018
형태사항 81 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Young-Tak Sohn
지도교수의 한글표기 : 조형석
지도교수의 영문표기 : Hyung-Suck Cho
학위논문 학위논문(석사) - 한국과학기술원 : 정밀공학과,
서지주기 참고문헌 : p. 39-41
주제 Electric welding.
Welded joints.
Robot vision.
Robots --Control systems.
용접 로봇. --과학기술응용시소러스
컴퓨터 비젼. --과학기술응용시소러스
용접부. --과학기술응용시소러스
아크 용접. --과학기술응용시소러스
자동 용접. --과학기술응용시소러스
Computer vision.
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