Calibration for Gaze Tracking System Based on Binocular Stereo Vision

Qingchuan, 温晴川 Wen; Feipeng, 达飞鹏 Da; Xu, 方旭 Fang

doi:10.3788/aos201232.1015002

Cited by 5 publications

(3 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Coordinate corresponding to attitude of end position of weld It is assumed that in the Cartesian coordinate of {1}, given the corresponding coordinate {x p , y p , z p }of attitude at one end of the welding robot, at the same time it is required that the trajectory of welding robot keep not shaking during the welding and maintain the welding gun keep perpendicular to the welding surface, then the coordinate {x B , y B , z B } and the coordinate {x p , y p , z p } of the welding point corresponding only traverse with the rod length L 3 in the direction of z 1 in Cartesian coordinate. During the design of the welding robot of three-arm and five-degree freedom increasing large scale of traversing, it makes the joint angle θ 3 larger than 0 through the limit mechanism, that is to say, the three-arm and five-degree freedom mechanic arm of this welding robot will not have the attitude at the welding end related to the dotted line shown in Fig. 2 [6,7] .…”

Section: Robot Structure That Can Be Controlled Completely In the Opementioning

confidence: 99%

The Study of Intelligent Metal Filling Strategy on Welding Robot Thick Plate Welding

Fu¹,

Liu²,

Wang³

2017

Proceedings of the 2016 International Forum on Mechanical, Control and Automation (IFMCA 2016)

View full text Add to dashboard Cite

This paper has established the robot model of three-arm and five-degree freedom increasing large scope of traversing welding and given decoupling method of model in "large scope of traversing", "triangle movement of two arms" and "spherical movement of one arm". This has completed the image of using geometrical to calculation the inverse problem of kinematics and has eliminated the blind spots of the motions of welding gun of welding robot [1,2] . With 2D function of laser sensor, it realizes the non-contact detection of weld edge, the estimate of the amount of welding metal filling. Then, it gives a intelligent metal filling strategy of 45 degree horizontal butt weld for many times. The result of test works well.

show abstract

Section: Robot Structure That Can Be Controlled Completely In the Opementioning

confidence: 99%

The Study of Intelligent Metal Filling Strategy on Welding Robot Thick Plate Welding

Fu¹,

Liu²,

Wang³

2017

Proceedings of the 2016 International Forum on Mechanical, Control and Automation (IFMCA 2016)

View full text Add to dashboard Cite

show abstract

“…视场旋转在潜水导航 [1] 、运动体精确测量 [2][3][4][5] 和动平台下光电跟踪 [6][7] 等任务中影响着目标定位的精度，因为这些观测与传统的固定基观测是不同的。观测设备所在平台的姿态变化，使得观测设备的视轴以及视场会受到较大的影响，为精确测量定位带来了很大的困难。现行的解决方案大致分为两类：其一为机械方法，即设计稳定平台削弱或隔离平台姿态变化，将测量系统置于稳定平台之上；其二为补偿法 [3] [8][9][10][11]…”

Section: 引言unclassified

Despinning Scheme of Shipboard Electro-Optical Tracking System

Shu¹,

Yahui²,

Qiliang³

et al. 2014

激光与光电子学进展

View full text Add to dashboard Cite

A kind of tracking error of shipboard electro-optical tracking system is caused by the rotation of vessel. In order to solve this problem, a method using coordinate transformation based on quaternion is proposed. By analyzing the viewing field in each coordinate system, the effect of vessel attitude on the viewing field is deduced. Meanwhile, the effect of the installation misalignment on the viewing field is deduced too. The result provides a theoretical basis for real-time despinning of shipboard electro-optical tracking system.

show abstract

“…Therefore, the welding deviation and error actions often occur on site, which is a great barrier for further application of plate wielding [5]. corresponding to lower weld curvature [6,7]. As shown in Fig4, laser array sensors are arranged in the radial direction of upper and lower weld curvatures.…”

Section: Weld Tracking Technology Of Welding Robots Based On Multi-sementioning

confidence: 99%

Intelligent Control of Metal Filling by Welding Robots

Fu¹,

Ni²,

Zhou³

et al. 2015

Proceedings of the 5th International Conference on Advanced Design and Manufacturing Engineering

View full text Add to dashboard Cite

robot model of three-arm and five-degree freedom plus large scope of traversing welding was established, and decoupling of models of "large scope of traversing", "triangle movement of two arms" and "spherical movement of one arm" was realized. The model of "triangle movement of two arms "is able to use geometrical calculation to solve the kinematics inverse problem , avoid the multiplicity, improve the calculation speed, eliminate the blind spots of the motions of welding gun of welding robot, and simplify the kinematic pair of kinematic mechanism for the arc filling strategy during welding travelling of robot. Binocular stereo vision camera was used to detect the edges of welds, and laser array sensor was used to measure the weld data. The matlab program is designed according to the shape of weld to calculate the amount of metal filling. Relevant date has been used to calculate the accuracy of the percent and analyze the factors that lead to the errors.

show abstract

Calibration for Gaze Tracking System Based on Binocular Stereo Vision

Cited by 5 publications

References 0 publications

The Study of Intelligent Metal Filling Strategy on Welding Robot Thick Plate Welding

The Study of Intelligent Metal Filling Strategy on Welding Robot Thick Plate Welding

Despinning Scheme of Shipboard Electro-Optical Tracking System

Intelligent Control of Metal Filling by Welding Robots

Contact Info

Product

Resources

About