基于双目视觉弧焊机器人焊缝三维信息获取的研究

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1、ADissertationSubmittedtoShanghaiJiaoTongUniversityforPh.DDegreeThree-dimensionalinformationcomputingofweldseambasedonbinocularvisionforarcweldingrobotMajor:MaterialsScienceandEngineeringSupervisor:Prof.ChenShanbenCandidate:ChenXizhangSchoolofMaterialsScienceandEngineeringShanghaiJiaoT

2、ongUniversityJune.2007目录第1章绪论......................................................................................................................11.1引言...........................................................................................................................11.2焊接机器人

3、和机器人焊接应用现状及其分析.......................................................31.3环境识别与视觉传感技术在焊接机器人领域的应用...........................................61.4立体视觉技术的发展和应用现状...........................................................................91.5本文的主要研究内容及结构安排....................................

4、.....................................17第2章宏观环境下焊缝与初始焊位的识别....................................................................252.1引言.........................................................................................................................252.2焊接环境识别的特点..................

5、..........................................................................252.3宏观焊缝的整体识别............................................................................................282.4焊缝识别结果..............................................................................................

6、..........422.5初始焊接位置在图像上的定位.............................................................................462.6本章小结.................................................................................................................52第3章弧焊机器人双目视觉系统的标定.......................................

7、.................................553.1引言.........................................................................................................................553.2摄像机模型和标定参数.........................................................................................553.3双目视觉系统的标定......

8、.....