点群を用いたロボットアーク溶接の自動開先検出と軌道生成
A Point Cloud-Based Method for Automatic Groove Detection and Trajectory Generation of Robotic Arc Welding Tasks
RGB-Dセンサで取得した点群からV型開先を検出し、6自由度の溶接軌道を自動生成してロボットアームで溶接作業を行うシステムを提案した。
著者: Rui Peng, David Navarro-Alarcon, Victor Wu, Wen Yang
分類: cs.RO
原文アブストラクト
In this paper, in order to pursue high-efficiency robotic arc welding tasks, we propose a method based on point cloud acquired by an RGB-D sensor. The method consists of two parts: welding groove detection and 3D welding trajectory generation. The actual welding scene could be displayed in 3D point cloud format. Focusing on the geometric feature of the welding groove, the detection algorithm is capable of adapting well to different welding workpieces with a V-type welding groove. Meanwhile, a 3D welding trajectory involving 6-DOF poses of the welding groove for robotic manipulator motion is generated. With an acceptable error in trajectory generation, the robotic manipulator could drive the welding torch to follow the trajectory and execute welding tasks. In this paper, details of the integrated robotic system are also presented. Experimental results prove application value of the presented welding robotic system.
