Journal of Shanghai Jiao Tong University

Journal of Shanghai Jiaotong University ›› 2015, Vol. 49 ›› Issue (03): 392-394.

• Automation Technique, Computer Technology • Previous Articles     Next Articles

Hand-Eye Calibration in Robot Welding of Aero Tube

ZHANG Zongyu1,GAO Hongming1,HAN Qinglin1,HUANG Rui2 RONG Jian2,WANG Yongchao2   

  1. (1. State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin 150001, China; 2. Aviation Industry Corporation of China, Chengdu Aircraft Industrial (Group) Co., Ltd., Chengdu 610092, China)
  • Received:2014-05-20 Online:2015-03-30 Published:2015-03-30

Abstract:

Abstract： Based on the current domestic situation that the welding of aero tube is mainly the manual gas tungsten arc welding, a digital welding of aero tube was proposed. The hand-eye calibration of robot involved in the system was studied. By establishing the camera coordinate system in the installation distance of META seam tracking sensor, the handeye calibration is completed using a three dimensional measuring machine. The results show that the calibration accuracy of this method is ±0.4 mm, which meets the requirement of the digital welding of aero tube.

Key words: digital welding of aero tube, hand-eye calibration, three dimensional measuring machine, seam tracking sensor

CLC Number: