Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/95536
DC Field | Value | Language |
---|---|---|
dc.contributor | Department of Mechanical Engineering | en_US |
dc.creator | Zhou, P | en_US |
dc.creator | Peng, R | en_US |
dc.creator | Xu, M | en_US |
dc.creator | Wu, V | en_US |
dc.creator | Navarro-Alarcon, D | en_US |
dc.date.accessioned | 2022-09-21T01:40:48Z | - |
dc.date.available | 2022-09-21T01:40:48Z | - |
dc.identifier.uri | http://hdl.handle.net/10397/95536 | - |
dc.language.iso | en | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
dc.rights | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
dc.rights | The following publication P. Zhou, R. Peng, M. Xu, V. Wu and D. Navarro-Alarcon, "Path Planning With Automatic Seam Extraction Over Point Cloud Models for Robotic Arc Welding," in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5002-5009, July 2021 is available at https://doi.org/10.1109/LRA.2021.3070828 | en_US |
dc.subject | Industrial robots | en_US |
dc.subject | Motion and path planning | en_US |
dc.subject | RGB-D perception | en_US |
dc.title | Path planning with automatic seam extraction over point cloud models for robotic arc welding | en_US |
dc.type | Journal/Magazine Article | en_US |
dc.identifier.spage | 5002 | en_US |
dc.identifier.epage | 5009 | en_US |
dc.identifier.volume | 6 | en_US |
dc.identifier.issue | 3 | en_US |
dc.identifier.doi | 10.1109/LRA.2021.3070828 | en_US |
dcterms.abstract | This letter 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. | en_US |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | IEEE robotics and automation letters, July 2021, v. 6, no. 3, p. 5002-5009 | en_US |
dcterms.isPartOf | IEEE robotics and automation letters | en_US |
dcterms.issued | 2021-07 | - |
dc.identifier.scopus | 2-s2.0-85103771951 | - |
dc.identifier.eissn | 2377-3766 | en_US |
dc.description.validate | 202209 bcfc | en_US |
dc.description.oa | Accepted Manuscript | en_US |
dc.identifier.FolderNumber | ME-0050 | - |
dc.description.fundingSource | RGC | en_US |
dc.description.fundingSource | Others | en_US |
dc.description.fundingText | Chinese National Engineering Research Centre for Steel Construction Hong Kong Branch | en_US |
dc.description.pubStatus | Published | en_US |
dc.identifier.OPUS | 48554479 | - |
Appears in Collections: | Journal/Magazine Article |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Zhou_Path_Planning_Automatic.pdf | Pre-Published version | 3.97 MB | Adobe PDF | View/Open |
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