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.
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.
在此基础上，研制成了一种5自由度的全位置焊接机器人，能对球罐内外纵缝、横缝及仰缝进行无导轨全自动焊接，达到了高效率、高质量、无人实时操作和低劳动强度。
Based on the above research work, an all-position welding robot with 5 degrees of freedom is developed to improve the automatic welding efficiency and quality of spherical tanks.
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