2021
An Autonomous Positioning Method of Tube-to-Tubesheet Welding Robot Based on Coordinate Transformation and Template Matching
RA-L 2021
In order to change the positioning method “teach-playback” for tube-to-tubesheet welding by robots, this letter proposes an autonomous positioning method based on coordinate transformation and template matching. The coordinate trans-formation between the robot coordinate system (RCS) and the drawing