Research On Visual Location And High Precision Motion Control In Laser Welding System

Although laser welding has a broad prospect,the level of automation in this field is lower than other fields.I design a laser soldering system with an efficiency of 5000 units per hour.This machine can replace 17 operators.You can find the specific theoretical basis and calculation process in the thesis.Based on the simplified camera model and characteristics of laser welding,I choose and design the three points calibration method in laser welding system.A three points calibration method is also established for sorting robot.You can calibrated the camera with measured object not calibration block.It can works simple and effective.There are many papers about flexible control methods in mathematical modeling,but not adequate research on how to realize the flexible control,such as S-curve acceleration and deceleration.Those algorithms have been designed are heavy computational or impractical.So the research hotpots about control algorithm of acceleration and deceleration is specific planning process.The seven sections S type velocity curve is used in laser scanning galvanometer system and laser alignment system.Using the symmetric feature in acceleration and deceleration process can reduce the computational complexity.In the laser soldering system,I design a new algorithm to plan five sections S type velocity curve.You can plan the velocity curve with acceleration time not acceleration and jerk.This algorithm can correct the parameter automatically when calculated acceleration or deceleration is bigger than the maxed allowable value.Facing the Initial speed an acceleration time is not equal to terminal speed and,it also can works well.The other advantage of this way is less calculation.Using the data from Laser Interferometer and production,we can find that the design is reasonable.And the new algorithm about acceleration and deceleration is more practical.