Static Tracking, Machine Vision-based Robot-dimensional Curve

The cutting and welding of metal material is an important process in industry and it is widely used in fields such as machinery manufacture,architecture,electricity, water conservancy,shipbuilding,etc.Now in our country it is mainly finished by people or traditional production equipments and the production efficiency is relatively low .If the job can be automatically finished by robots based on machine vision,not only the production's quality and outputs can be improved rapidly ,but also our country's enteprises' international competitiveness can be strengthened greatly. The job that robots cut and weld the metal material can be abstracted into robots' static tracing for the object curve. So deep research about robot's curve tracing has greater practical value.The thesis comprehensively applies the machine vision technology, CMAC neural network technology and robots' control technology; designs and realizes the static tracing system of robots based on machine vision for 2-D(dimensional) curve. It mainly includes object curve's image process, CMAC 's coordinate transformation and robots tracing control1.Object curve's image process: This part is divided into steps like preprocess,binarization,second-process, thinning and curve extraction. Medium filtering, linear transformation, iterative and other algorithms are used in this part .The processing program are compiled in Visual C++ .2.Transformation of coordinates through the CMAC neural network: This part designed the CMAC neural network, realized the transformation from the object curve's 2-D coordinate to robot's 6-D coordinate, collected enough training samples, used a new kind of CMAC ,improved the network's precision obviously and carried out a lot of experiments.MATLAB tools is used in this part.3.Robot tracing control:In this part we digested ,tested and studied the SK-6 robot.,compiled the communiction program between PC and the robot,used therobot's three control mode and realized robot's 2-D curve static tracing .In conclusion the thesis primarily resolved the robot's tracing for two-dimentional curve and the bright future of robots'application in industry is foreseeable.