Virtual Environment Modeling Oriented Tele-Robot Welding

How to make the unknown environment to be the relative structured environment is one of the keys in remote robotic welding in the non-structured environment. In this paper, a virtual environment (VE) operating and controlling platform of remote welding is constituted based on Java&Java3D from the viewpoint of application. With this foundation, using our laboratory's 3D geometry vision and structured laser sensor, the character information of remote environment is obtained and the model of remote environment based on this platform is set up.In this platform, the remote arc welding robot working environment is partitioned to macrostructure model and small area weld seam model. The macrostructure is defined to the position and gesture of basic makeup cell and it gets remote information from 3D geometry vision. The weld seam is a space curve and it gets information from structured laser sensor by user's controlling. The macrostructure gives a space restriction to remote controlling welding robot and gives a virtual guide to structured laser sensor. The scanning and constructing of welding seam will finally determine the quality and reliability of tele-robot welding.Based on the experiment, the feasibility of this VE modeling method based on the operating and controlling platform is validated, and an analysis of the relationship between the modeling accuracy and the influencing factors such as sensor calibration is carved out. Based on the 3D geometry vision, using Java3D, for each of worktable and sine welding seam part of sheet, the VE modeling experiments achieve the construct of macrostructure, security virtual thickness and virtual guide based on error, and accomplish the space restriction of robot running. Via the structured laser sensor's getting three-dimension information, the experiments achieve the modeling of sine welding seam part of sheet by using programming. The experiment result shows that the system can possess a high modeling precision to meet the requirements preparation in tele-robot welding process based on VE, and the work in this paper will be the basis for the further research of task planning, graphics simulation and virtual teaching based...