A Visual Servoing System for the Torch Alignment to Initial Welding Position

Authors:
Zhiguo Yan;De Xu;Yuan Li
Affiliations:
Key Laboratory of Complex System and Intelligent Sciences, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190 and Graduate University of Chinese Academy of Science, Beijing, 100 ...;Key Laboratory of Complex System and Intelligent Sciences, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190;Department of Information Science and Technology, Beijing Institute of Technology, Beijing, 100081
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
Year:
2008

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Abstract

It is an important aspect to locate the initial welding position automatically. In this paper, a visual servoing system is proposed. Two CCD cameras are employed as the senseors to get the information of the welding seam. The designed visual servoing controller, which is based on Takigi-Sugeno (T-S) fuzzy model, is applied to the stepper motors to adjust the welding torch in the up-down and left-right direction. Experimental results are provided to demonstrate the validity of the proposed system.