アーク溶接ロボットのための点群モデルからの自動シーム抽出による経路計画
Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding
手ジェスチャで作業物の点群を取得・再構成し、ノイズ除去後に強度ベースのアルゴリズムで溶接シームを抽出して6自由度の溶接経路を自動生成するシステムを提案した。
著者: Peng Zhou, Rui Peng, Maggie Xu, Victor Wu, David Navarro-Alarcon
分類: cs.RO
原文アブストラクト
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.
