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RGBD sensor-based Path Generation Method for arc welding robot
Li J(李婧); Jing Fengshui
2016
Conference Namethe 28th Chinese Control and Decision Conference
Source Publicationthe 28th Chinese Control and Decision Conference
Conference Date2016-5
Conference Place中国,银川
AbstractIn 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.
KeywordPoint Cloud Image Processing Arc Welding Path Generation
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11770
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorJing Fengshui
Affiliation中国科学院自动化研究所
Recommended Citation
GB/T 7714
Li J,Jing Fengshui. RGBD sensor-based Path Generation Method for arc welding robot[C],2016.
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