TY - GEN
T1 - A Point Cloud-Based Method for Automatic Groove Detection and Trajectory Generation of Robotic Arc Welding Tasks
AU - Peng, Rui
AU - Navarro-Alarcon, David
AU - Wu, Wai Hung
AU - Yang, Wen
N1 - Funding Information:
This work is supported in part by the Chinese National Engineering Research Centre for Steel Construction (Hong Kong Branch) at The Hong Kong Polytechnic University under grant BBV8, in part by the Research Grants Council of Hong Kong under grant 142039/17E and in part by The Hong Kong Polytechnic University under grant G-YBYT.
Publisher Copyright:
© 2020 IEEE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/6
Y1 - 2020/6
N2 - 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.
AB - 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.
KW - Robotics
UR - http://www.scopus.com/inward/record.url?scp=85094315905&partnerID=8YFLogxK
U2 - 10.1109/UR49135.2020.9144861
DO - 10.1109/UR49135.2020.9144861
M3 - Conference article published in proceeding or book
T3 - 2020 17th International Conference on Ubiquitous Robots, UR 2020
SP - 380
EP - 386
BT - 2020 17th International Conference on Ubiquitous Robots, UR 2020
ER -