In many manufacturing processes (e.g., welding, spraying, coating adhesive), the control for the velocity in the main direction heavily affects operation quality. In addition to traditional manual operations, the industrial robot with a tracking system is capable of accurate and stable velocity control. In this paper, an intelligent robot tracking system is designed for implementing an appropriate velocity control and improving the performance of an autonomous system with online structured light vision tracking. For this aim, an effective tracking algorithm is proposed based on position-based visual servoing (PBVS), and motion compensation is implemented according to both detected path and taught path. To improve the adaptability of the system, a Fuzzy-PI double-layer controller is developed, which adjusts the movement of the end effector in both cases of large and small deviation. Welding experiments demonstrate the effectiveness of the proposed vision tracking system.

在许多制造过程中（例如，焊接，喷涂，涂胶），主方向速度的控制会严重影响操作质量。除传统的手动操作外，带有跟踪系统的工业机器人还能够进行准确而稳定的速度控制。在本文中，设计了一种智能机器人跟踪系统，以实现适当的速度控制并提高具有在线结构化光视觉跟踪的自治系统的性能。为此，提出了一种基于位置视觉伺服（PBVS）的有效跟踪算法，并根据检测到的路径和示教路径进行运动补偿。为了提高系统的适应性，开发了Fuzzy-PI双层控制器，无论是大偏差还是小偏差，都可以调节末端执行器的运动。焊接实验证明了所提出的视觉跟踪系统的有效性。