TRACKING METHOD FOR WELDING START-POINT USING LVS AND VISUAL SERVOING

摘要

A welding starting-point tracking method using LVS(Laser Vision System) and visual servoing is provided to minimize an error of the welding starting-points and further improve operating stability by applying a visual servoing concept to the LVS, thereby tracking welding starting-points continuously and fixedly maintaining the posture of a robot. A welding starting-point tracking method using LVS and visual servoing comprises: an LVS image obtaining step of receiving coordinates of a robot such that the LVS obtains images(S203); a robot tool end moving step of adding proper increments to the coordinates of the robot such that the LVS recognize bottom face, side faces, and a front face in a welding block through the obtained images, and moving a position of the robot tool end such that a robot tool end maintains a predetermined distance relative to a recognized face in the bottom face, the side faces, and the front face in the welding block; and an LVS starting-point calculating step of calculating a starting point of the LVS using information on the bottom face, the side faces, and the front face in the welding block recognized by the LVS.