Path Planning With Automatic Seam Extraction Over Point Cloud Models for Robotic Arc Welding
| العنوان: | Path Planning With Automatic Seam Extraction Over Point Cloud Models for Robotic Arc Welding |
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| المؤلفون: | Rui Peng, Peng Zhou, Maggie Xu, David Navarro-Alarcon, Victor Wu |
| المصدر: | IEEE Robotics and Automation Letters. 6:5002-5009 |
| بيانات النشر: | Institute of Electrical and Electronics Engineers (IEEE), 2021. |
| سنة النشر: | 2021 |
| مصطلحات موضوعية: | FOS: Computer and information sciences, 0209 industrial biotechnology, Control and Optimization, Computer science, Biomedical Engineering, Point cloud, ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, Welding, law.invention, Computer Science::Robotics, Computer Science - Robotics, 020901 industrial engineering & automation, Artificial Intelligence, law, Robustness (computer science), 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Motion planning, business.industry, Mechanical Engineering, 020208 electrical & electronic engineering, Iterative closest point, Computer Science Applications, Human-Computer Interaction, Control and Systems Engineering, Path (graph theory), Computer Vision and Pattern Recognition, Bilateral filter, Artificial intelligence, Arc welding, business, Robotics (cs.RO) |
| الوصف: | 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 |
| تدمد: | 2377-3774 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::094deca2f61f55ab25f911819efe0449 https://doi.org/10.1109/lra.2021.3070828 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi.dedup.....094deca2f61f55ab25f911819efe0449 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 23773774 |
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