Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding

Autor:	Zhou, Peng, Peng, Rui, Xu, Maggie, Wu, Victor, Navarro-Alarcon, David
Rok vydání:	2020
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point algorithm. Then, a bilateral filter is extended to denoise the workpiece model and preserve important geometrical information. To extract the welding seam from the model, a novel intensity-based algorithm is proposed that detects edge points and generates a smooth 6-DOF welding path. The methods are tested on multiple workpieces with different joint types and poses. Experimental results prove the robustness and efficiency of this robotic system on automatic path planning for welding applications. Comment: 8 pages, 13 figures and 2 tables
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2011.11951 Zobrazit plný text záznamu View this record from Arxiv