RGBD sensor-based Path Generation Method for arc welding robot

	RGBD sensor-based Path Generation Method for arc welding robot
	Li J(李婧); Jing Fengshui
	2016
会议名称	the 28th Chinese Control and Decision Conference
会议录名称	the 28th Chinese Control and Decision Conference
会议日期	2016-5
会议地点	中国，银川
摘要	In this paper, an auto path generation method for arc welding robot is proposed by using a RGB-D sensor. From the generated 3D point cloud of the weld workpiece, the welding line is extracted and the path points of the robot are generated by an auto path generation algorithm. So the torch tip of the arc welding robot would walks along the welding line. This path generation module is added to current widely used ordinary arc welding robot while not changing it, used to assist people when teaching arc welding robots. This maybe eventually replace operator by automatically generate the path. The detail algorithm of the recognizing space curve welding lines and the auto path point generation method are emphasized in this paper. Experimental result shows the application feasibility of the proposed method.
关键词	Point Cloud Image Processing Arc Welding Path Generation
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/11770
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Jing Fengshui
作者单位	中国科学院自动化研究所
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Li J,Jing Fengshui. RGBD sensor-based Path Generation Method for arc welding robot[C],2016.

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