Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding
This system addresses the problem of automatic path planning for robotic arc welding, which is significant for manufacturing automation.
This paper presents a robotic system for arc welding that reconstructs 3D workpiece models from partial point cloud scans and automatically extracts welding seams. It proposes a novel intensity-based algorithm to detect edge points and generate a smooth 6-DOF welding path, demonstrating robustness and efficiency across various joint types and poses.
This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point algorithm. Then, a bilateral filter is extended to denoise the workpiece model and preserve important geometrical information. To extract the welding seam from the model, a novel intensity-based algorithm is proposed that detects edge points and generates a smooth 6-DOF welding path. The methods are tested on multiple workpieces with different joint types and poses. Experimental results prove the robustness and efficiency of this robotic system on automatic path planning for welding applications.