Stereo vision based robot welding

Abstract The most important advantages of robotic welding are precision and productivity. Introducing visual systems in allows one to easily position the elements that welded. robot will then perform without error after recording points. application robotics is very because it enables autonomous work robot. Stereo vision used for three-dimensional reconstruction robot’s environment based on images captured by cameras. stereo system consists two cameras a computer processes recorded using appropriate programs algorithms. accuracy estimating coordinates space important, necessary estimate parameters define their dependence. relationship between cameras, as well basic parameters, assessed camera calibration. After calibrating each 2D coordinate, obtained from sensor, possible determine which set points belongs 3D coordinate system. One difficult problems object finding planes were created same physical point. problem correspondent also considered this paper. To present efficiency reliability proposed solution obtaining space, was tested laboratory satisfactory results obtained.