该文提出了一种基于双模控制的焊接机器人焊缝自动跟踪系统。
An automatic seam tracking system of welding robot based on double-mode control is presented.
给出了一种示教与纠偏相结合的焊缝跟踪方法，用于实现机器人的自动焊接。
A method combining teaching and visual correction for weld seam tracking is presented to realize robotic automatic welding.
焊接工艺试验结果表明，焊接机器人自动跟踪精度高、焊缝质量好、工作稳定可靠。
The welding tests show that the welding robot can make all-position and multiple-layer welds with high tracking accuracy, excellent quality and reliable behavior.
根据球罐焊接机器人焊缝跟踪的要求和特点，设计了一种基于线阵CCD的视觉传感器。
As the requirement and characteristics existing in weld seam tracking for spherical tank welding robot as concerned, a visual sensor based on linear CCD has been developed.
对智能弧焊机器人的实时轨迹跟踪问题，提出了一种新的运动学建模：焊缝切线法。
This paper presents a new kinematics modeling of the intelligent arc welding in the real time trajectory tracking.
阐述了目前“示教-再现”机器人的局限性，为解决这一问题，提出了基于被动视觉实时焊缝跟踪技术。
In order to solve this problem, a real-time weld tracking technology is proposed based on the passive vision.
研制了一套基于旋转电弧传感的弧焊机器人空间曲线焊缝智能跟踪控制系统。
A space curve welding seam tracking sys-tem on welding robot with rotating arc sensor is devel-oped.
为结合焊缝跟踪技术实现机器人焊接的全程自动化，远距离的初始焊位导引系统是必须的。
To realize the wholly robot welding automation of robot welding with the improvement of welding seam tracking technology, initial welding position guiding system becomes more necessary.
实验证明，基于双模控制的焊缝自动跟踪系统可以实现焊接机器人焊枪对焊缝的实时自动跟踪。
The results of experiments prove that the automatic seam tracking system based on double-mode control can realize real-time automatic seam tracking of the welding torch of welding robot.
该方法是根据焊缝跟踪系统判断焊缝的弯曲程度，确定机器人的运动学模型。
The new method is called welded line tangent method which forms a kinematics model for the robot operating in the bent degree based on the judgment of the tacking system.
主要研究以轮式移动机器人为本体的球罐焊接机器人的焊缝跟踪问题。
This research is mainly addressed on solving the weld seam tracing problems existing in design of wheel mobile robot based spherical tank welding robot.
针对焊缝跟踪对传感器的要求，研制了一种适用于焊接机器人的轻便、紧凑、高速旋转的电弧传感器。
For the demanding of sensor in seam tracking, a lightweight, compact, high speed rotating arc sensor is developed.
将移动机器人技术和焊缝跟踪技术结合起来构成移动式的焊接机器人，在大型结构件的自动化焊接中，有着广阔的应用前景。
Mobile robot technology and seam tracking technology combines to form mobile welding robot. Without question, it will be widely used in the automatic welding of large welding structures.
根据在线视觉测量结果，形成机器人的运动目标，实现焊缝自动跟踪与焊接。
The system has the function of automated recognition and tracking weld. The principle of the visual control system and LRTORC developed by us is discussed.
根据在线视觉测量结果，形成机器人的运动目标，实现焊缝自动跟踪与焊接。
The system has the function of automated recognition and tracking weld. The principle of the visual control system and LRTORC developed by us is discussed.
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