论文标题
一种基于云的基于云的方法，用于自动凹槽检测和机器人弧焊接任务的轨迹生成
A Point Cloud-Based Method for Automatic Groove Detection and Trajectory Generation of Robotic Arc Welding Tasks
论文作者
论文摘要
在本文中，为了执行高效机器人弧焊接任务，我们提出了一种基于RGB-D传感器获得的点云的方法。该方法由两个部分组成：焊接凹槽检测和3D焊接轨迹产生。实际的焊接场景可以以3D点云格式显示。该检测算法着眼于焊接凹槽的几何特征，能够很好地适应带有V型焊接凹槽的不同焊接工件。同时，生成了一个3D焊接轨迹，涉及用于机器人操纵器运动的焊接凹槽的6-DOF姿势。由于轨迹生成的可接受错误，机器人操纵器可以驱动焊接火炬遵循轨迹并执行焊接任务。在本文中，还提供了集成机器人系统的详细信息。实验结果证明了焊接机器人系统的应用值。
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.
