Jun-Di Sun

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A welding seam detection and feature point extraction system for robotic arc welding is proposed in this paper. The system consists of a CCD camera, a line structure laser, a narrowband optical filter to overcome the interference from arc light and other light sources, and an embedded computer board for image processing and error calculation. By taking use(More)
This paper proposes a path-planning algorithm using image processing for three-dimensional (3-D) arc welding of the automatic welding robot system. First, the forward kinematics of the automatic welding robot system is analyzed. Then, the path-planning algorithm based on image processing is developed, and its script is described. Furthermore, the practical(More)
This paper proposes a control strategy of a constrained planar flexible manipulator for vibration suppression using optimal input shaper (OIS) and linear quadratic regulator (LQR). An experimental setup of the flexible manipulator is presented, and the corresponding mathematical model is derived utilizing the assumed mode method and Lagrange dynamics(More)
Structured light vision is now widely used in weld seam detection for arc welding robot due to its simple structure, high precision, low cost, and real-time characteristic. By taking use of optical triangulation measurement principle, the position of welding seam is able to be measured. Calibration is one of the crucial step before structured light vision(More)
In this paper, an all-digital resolver-to-digital conversion (RDC) system using phase-locked loop (PLL) tracking algorithm is proposed. Excitation signal is obtained from PWM module of a TMS320F2812 digital signal processor (DSP). According to the excitation signal, the resolver outputs differential sine and cosine signals, which are sampled by a 16-bit(More)
This paper proposes an analytical approach to solve inverse kinematics of a 6-DOF robot. The robot discussed here is designed with 6R configuration. The D-H model of the six-axis robot is built. The forward analytical solution is deduced using the D-H method. Then, analysis of inverse kinematics for the robot is presented. And finally, the validity of the(More)
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