A method of welding path planning of steel mesh based on point cloud for welding robot

被引：15
作者：
Geng, Yusen [1 ,2 ]
Zhang, Yuankai [1 ,2 ]
Tian, Xincheng [1 ,2 ]
Shi, Xiaorui [3 ]
Wang, Xiujing [3 ]
Cui, Yigang [3 ]
机构：
[1] Shandong Univ, Ctr Robot, Sch Control Sci & Engn, Jinan 250061, Peoples R China
[2] Minist Educ, Engn Res Ctr Intelligent Unmanned Syst, Jinan 250061, Peoples R China
[3] Sinotruk Jinan Power Co Ltd, Sinotruk Ind Pk Zhangqiu, Jinan 250220, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2021年 / 116卷 / 9-10期
关键词：
Without teaching and programming; 3D structured light camera; Steel mesh point cloud; Welding path planning; SEAM TRACKING; GTAW PROCESS;
D O I：
10.1007/s00170-021-07601-6
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
At present, the operators needs to carry out complicated teaching and programming work on the welding path planning for the welding robot before welding the steel mesh. In this work, an automatic welding path planning method of steel mesh based on point cloud is proposed to simplify the complicated teaching and programming work in welding path planning. The point cloud model of steel mesh is obtained by three-dimensional vision structured light camera. Then, we use the relevant point cloud processing algorithm to calculate the welding path of the steel mesh, and obtain the 3D information of the welding path for the welding localization of the robot welding process. Experimental results show that the method can accurately realize the welding path planning of the steel mesh and accomplish the welding task without teaching and programming before welding, which improves the production efficiency.
引用
收藏
页码：2943 / 2957
页数：15
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