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Vision-Based Path Generation Method for a Robot-Based Arc Welding System

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Abstract

In this paper a vision-based integrated method intended for path generation for a robot-based arc welding system, is presented. The described system is composed of the recently developed pseudo stereovision system (PSVS) or an ordinary stereovision system and the related software. A desired path can be generated, using a part or the entire edge of an image captured from a scene of the robotic environment, a line manually designed in the image, a combination of lines of the previous cases or lines belonging in successive images captured from different scenes. A user can initially process images selecting by means of pull down menus a variety of filters, edge detection methods and operations. Then the desired path as a combination of lines is selected from images. Applying our correspondence algorithm, corresponding edges can be found. Finally, a number of successive path points are calculated by means of the proposed path point calculation algorithm. In on line operation, the vision system mounted on the end-effector can capture images with the desired best view (welding view) of a scene by moving or rotating (using push buttons) the end effector of the robotic manipulator – PUMA 761. Other facilities of the described system are the selection of a variety of colors and shapes, histogram view, desired magnification, system information and automatic execution of user-selected operations. The graphical user interface is developed in Visual C++, it runs in a personal computer and communicates with the robotic manipulator (PUMA 761) through ALTER communication port.

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  1. Department of Electrical and Computer Engineering, Democritus University of Thrace, Vas. Sofias 12-67100, Xanthi, Greece

    Theodore P. Pachidis & John N. Lygouras

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  1. Theodore P. Pachidis
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  2. John N. Lygouras
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Correspondence to Theodore P. Pachidis.

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Pachidis, T.P., Lygouras, J.N. Vision-Based Path Generation Method for a Robot-Based Arc Welding System. J Intell Robot Syst 48, 307–331 (2007). https://doi.org/10.1007/s10846-006-9076-y

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  • DOI: https://doi.org/10.1007/s10846-006-9076-y

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