Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2006.05a
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- Pages.285-286
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- 2006
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- 2005-8446(pISSN)
Development of Vision Sensor Module for the Measurement of Welding Profile
용접 형상 측정용 시각 센서 모듈 개발
- Kim C.H. (Elec. Eng. & Comp. Sci. Dept., KAIST) ;
- Choi T.Y. (Elec. Eng. & Comp. Sci. Dept., KAIST) ;
- Lee J.J. (Elec. Eng. & Comp. Sci. Dept., KAIST) ;
- Suh J. (KIMM) ;
- Park K.T. (KIMM) ;
- Kang H.S. (KIMM)
- 김창현 (한국과학기술원 전자전산학과) ;
- 최태용 (한국과학기술원 전자전산학과) ;
- 이주장 (한국과학기술원 전자전산학과) ;
- 서정 (한국기계연구원) ;
- 박경택 (한국기계연구원) ;
- 강회신 (한국기계연구원)
- Published : 2006.05.01
Abstract
The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot automation, many kinds of contact and non-contact sensors are used. Recently, the vision sensor is most popular. In this paper, the development of the system which measures the profile of the welding part is described. The total system will be assembled into a compact module which can be attached to the head of welding robot system. This system uses the line-type structured laser diode and the vision sensor It implemented Direct Linear Transformation (DLT) for the camera calibration as well as radial distortion correction. The three dimensional shape of the parent metal is obtained after simple linear transformation and therefore, the system operates in real time. Some experiments are carried out to evaluate the performance of the developed system.
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