管状TKY継手の自動溶接のための物体検出と動作計画
Object Detection and Motion Planning for Automated Welding of Tubular Joints
RGB-Dセンサで管状継手の姿勢を検出して仮想環境に位置合わせし、BiTRRTアルゴリズムで溶接トーチの衝突回避軌道を生成する枠組みを提案・実験検証した。
著者: Syeda Mariam Ahmed, Yan Zhi Tan, Gim Hee Lee, Chee Meng Chew, Chee Khiang Pang
分類: cs.RO
原文アブストラクト
Automatic welding of tubular TKY joints is an important and challenging task for the marine and offshore industry. In this paper, a framework for tubular joint detection and motion planning is proposed. The pose of the real tubular joint is detected using RGB-D sensors, which is used to obtain a real-to-virtual mapping for positioning the workpiece in a virtual environment. For motion planning, a Bi-directional Transition based Rapidly exploring Random Tree (BiTRRT) algorithm is used to generate trajectories for reaching the desired goals. The complete framework is verified with experiments, and the results show that the robot welding torch is able to transit without collision to desired goals which are close to the tubular joint.
