Open Access

Robot Path Generation Method for a Welding System Based on Pseudo Stereo Visual Servo Control

  • Theodore P. Pachidis1Email author,
  • Kostas N. Tarchanidis2,
  • John N. Lygouras1 and
  • Philippos G. Tsalides1
EURASIP Journal on Advances in Signal Processing20052005:520734

https://doi.org/10.1155/ASP.2005.2268

Received: 30 December 2003

Published: 25 August 2005

Abstract

A path generation method for robot-based welding systems is proposed. The method that is a modification of the method "teaching by showing" is supported by the recently developed pseudo stereovision system (PSVS). A path is generated by means of the target-object (TOB), PSVS, and the pseudo stereo visual servo control scheme proposed. A part of the new software application, called humanPT, permits the communication of a user with the robotic system. Here, PSVS, the robotic system, the TOB, the estimation of robot poses by means of the TOB, and the control and recording algorithm are described. Some new concepts concerning segmentation and point correspondence are applied as a complex image is processed. A method for calibrating the endpoint of TOB is also explained. Experimental results demonstrate the effectiveness of the proposed system.

Keywords and phrases

path generation pseudo stereovision system robotic application HumanPT target-object calibration complex image

Authors’ Affiliations

(1)
Department of Electrical and Computer Engineering, Democritus University of Thrace
(2)
Department of Petroleum Technology, Technological Educational Institute of Kavala

Copyright

© Theodore P. Pachidis et al. 2005

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.