한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권1호
  • /
  • Pages.45-51
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  • 2000
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

칼만필터를 이용한 초대형 용접구조물의 용접선 추적에 관한 연구

A Study on Welding Path Finding For The Large Structure Using Kalman Filter

  • 발행 : 2000.01.01
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초록

In this Paper a basic technique of gantry robot control system has been developed to weld the curved part of a large structure. A welding robot is designed to rotate torch and make the torch angle normal to the welding surface. The Kalman filter is applied to obtain the smooth welding path signal from the noised Sensing data. A welding path finding algorithm has been developed in Turbo-C language.

키워드

참고문헌

  1. Mohinder S. Grewal, Angus P. Andrews, 'Kalman filtering theory and practice,' Prentice Hall, 1993
  2. R.S.Bucy and P.D.Joseph, 'Filtering for Stochastic Process, with Application to Guidance,' Wiley, 1968
  3. Shinobu Kawashima, Kajiro Watanabe and Kazuyuki Kobayashi, 'Traffic Monitor by Kalman Filtering of the Laser Radar Signals,' 1996' IFAC, pp. 165-169, 1996
  4. Mark E. Campbell, 'Identification and Parameter Estimation for Control Design,' 1996' IFAC, pp. 209-214, 1996
  5. Lim, Y.N., 'The implementation of the realtime visual tracking of moving target by using Kalman filter,' Autumn C. of KSPE, pp. 254-258, 1996
  6. Lee, J. S. and Won, J. H.,'Modified extended kalman filter technique for car navigation in urban environment with limited GPS visibility,' J. of 한국항공, Vol. 25, No.3, pp. 1225-1348, 1997
  7. Rim, Y.N.,'Real-time Target Tracking System by Extended Kalman Filter,' J. of KSPE, Vol. 15, No. 7, pp. 175-181, 1998
  8. Robert Grover Brown, 'Introduction to Random Signal Analysis and Kaltman Filtering,' John wiley & Sons Inc., pp. 195-200, 1983