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A novel system for off-line 3D seam extraction and path planning based on point cloud segmentation for arc welding robot

文献类型：期刊论文

作者Yang, Lei1,2; Liu, Yanhong1,2; Peng, Jinzhu1,2; Liang, Zize3
刊名ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
出版日期2020-08-01
卷号64页码:14
关键词Seam extraction 3D Reconstruction Point cloud segmentation Feature extraction Path planning Pose estimation
ISSN号0736-5845
DOI10.1016/j.rcim.2019.101929
通讯作者Liu, Yanhong(liuyh@zzu.edu.cn)
英文摘要Due to ever increasing precision and automation demands in robotic welding, the automatic and robust 3D seam extraction has become a research hot-spot of the welding robots. At present, most of the research work about seam extraction is aimed at butt joints. Nevertheless,too little work has been devoted to fillet joints and lap joints. Consequently,to achieve robust 3D seam extraction of different weld seams, a novel seam extraction system is proposed according to the 3D structures of welding work pieces. Firstly, a fringe projection system based on Digital Light Processing(DLP) projector is designed to measure the appearance of welding work pieces. Secondly, fusion of the shape information of welding work piece, a 3D seam extraction algorithm is proposed based on point cloud segmentation. Finally, according to the space structure of weld seams, the 3D seam path model and pose estimation are solved based on the established mathematical model of weld seams. Experiments show that the proposed algorithm could well solve different weld seams, such as fillet joints, butt joints and lap joints. Meanwhile, it could well overcome the influence of the materials of welding work pieces, scratch and rust.
WOS关键词TRACKING SYSTEM ; VISION ; IDENTIFICATION ; PROFILOMETRY
资助项目National Natural Science Foundation of China[61473265,61803344,61773351] ; Outstanding Foreign Scientists Support Project in Henan Province of China ; Innovation Research Team of Science & Technology in Henan Province of China[17IRTSTHN013]
WOS研究方向Computer Science ; Engineering ; Robotics
语种英语
WOS记录号WOS:000534233200006
出版者PERGAMON-ELSEVIER SCIENCE LTD
资助机构National Natural Science Foundation of China ; Outstanding Foreign Scientists Support Project in Henan Province of China ; Innovation Research Team of Science & Technology in Henan Province of China
源URL[http://ir.ia.ac.cn/handle/173211/39556]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Liu, Yanhong
作者单位1.Robot Percept & Control Engn Lab, Zhengzhou 450001, Henan, Peoples R China
2.Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Henan, Peoples R China
3.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Yang, Lei,Liu, Yanhong,Peng, Jinzhu,et al. A novel system for off-line 3D seam extraction and path planning based on point cloud segmentation for arc welding robot[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,2020,64:14.
APA Yang, Lei,Liu, Yanhong,Peng, Jinzhu,&Liang, Zize.(2020).A novel system for off-line 3D seam extraction and path planning based on point cloud segmentation for arc welding robot.ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,64,14.
MLA Yang, Lei,et al."A novel system for off-line 3D seam extraction and path planning based on point cloud segmentation for arc welding robot".ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 64(2020):14.

入库方式： OAI收割

来源：自动化研究所

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