Abstract
In order to change the positioning method “teach-playback” for tube-to-tubesheet welding by robots, this letter proposes an autonomous positioning method based on coordinate transformation and template matching. The coordinate trans-formation between the robot coordinate system (RCS) and the drawing coordinate system (DCS) has been established. The CCD camera will move to the position of target tube by the coordinate transformation of robot. This is coarse positioning. An improved template matching algorithm is used in machine vision. It can automatically create a template for each image instead of using a template to match the images of all the tubes. The welding torch will accurately locate the target tube by the result of template match. This is fine positioning. Finally, the comparative test showed that the proposed method is superior to the method of Ref [27]. The detection errors in x and y directions are within ±0.18 mm.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
