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
专题复杂系统管理与控制国家重点实验室_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
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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