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http://hdl.handle.net/10397/95536
Title: | Path planning with automatic seam extraction over point cloud models for robotic arc welding | Authors: | Zhou, P Peng, R Xu, M Wu, V Navarro-Alarcon, D |
Issue Date: | Jul-2021 | Source: | IEEE robotics and automation letters, July 2021, v. 6, no. 3, p. 5002-5009 | 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. | Keywords: | Industrial robots Motion and path planning RGB-D perception |
Publisher: | Institute of Electrical and Electronics Engineers | Journal: | IEEE robotics and automation letters | EISSN: | 2377-3766 | DOI: | 10.1109/LRA.2021.3070828 | 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. 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 |
Appears in Collections: | Journal/Magazine Article |
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Zhou_Path_Planning_Automatic.pdf | Pre-Published version | 3.97 MB | Adobe PDF | View/Open |
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