Robotic Trajectory Planning for Non-Destructive Testing Based on Surface 3D Point Cloud Data
文献类型：会议论文
| 作者 | Zhang, Zhen2; Zhang HL(张华良)3 ; Yu, Xiaolong1; Deng, Yongsheng2; Chen, Zheng4
|
| 出版日期 | 2021 |
| 会议日期 | June 18-20, 2021 |
| 会议地点 | Dali, China |
| 页码 | 1-9 |
| 英文摘要 | Robotics has been widely used in the field of non-destructive testing in recent years. However, for complex surfaces, manual teaching or offline programming is time-consuming and difficult to ensure high precision for non-destructive testing robot trajectory planning. Therefore, this work proposes a new method to generate non-destructive testing trajectory of the robot based on the pre-processed point cloud data. The workpiece surface is measured by 3D sensor to obtain the point cloud data. The trajectory line on workpiece surface is obtained by slicing pre-processed point cloud data. The dense trajectory points are obtained by isometric discretizing trajectory lines, and then they are compressed by Douglas-Peucker algorithm. The Principal Component Analysis (PCA) method is used to estimate the normal vector of the optimized trajectory points and unify their orientation. The pose of non-destructive testing robot can be obtained by biasing the trajectory points along their normal vectors finally |
| 产权排序 | 2 |
| 会议录 | 2021 7th International Forum on Manufacturing Technology and Engineering Materials, IFEMMT 2021
 |
| 会议录出版者 | IOP |
| 会议录出版地 | Bristol, UK |
| 语种 | 英语 |
| ISSN号 | 1742-6588 |
| 源URL | [http://ir.sia.cn/handle/173321/29377]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 通讯作者 | Zhang HL(张华良) |
| 作者单位 | 1.Hangzhou Innovation Institute, Beihang University, Hangzhou, China 2.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China 3.Key Laboratory of Industrial Control Network and System, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 4.School of Information Engineering, Shenyang University of Chemical Technology, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Zhang, Zhen,Zhang HL,Yu, Xiaolong,et al. Robotic Trajectory Planning for Non-Destructive Testing Based on Surface 3D Point Cloud Data[C]. 见:. Dali, China. June 18-20, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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