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

Geng, Yun; Zhang, Yuankai; Tian, Xiaohui; Shi, Xiaoping; Wang, Xiujing; Cui, Yigang

doi:10.1007/s00170-021-07601-6

Cited by 17 publications

(2 citation statements)

References 19 publications

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“…Some studies, such as [23][24][25][26], utilize the obtained workpiece point cloud data for path planning to grind the entire workpiece surface. Yang [27] proposed a three-dimensional weld grinding path planning method based on point clouds, and Geng [28] proposed a point-based, cloud-based automatic welding path planning method for steel mesh.…”

Section: Introductionmentioning

confidence: 99%

Automatic Aluminum Alloy Surface Grinding Trajectory Planning of Industrial Robot Based on Weld Seam Recognition and Positioning

et al. 2023

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In this paper, we propose a novel method for planning grinding trajectories on curved surfaces to improve the grinding efficiency of large aluminum alloy surfaces with welds and defect areas. Our method consists of three parts. Firstly, we introduce a deficiency positioning method based on a two-dimensional image and three-dimensional point cloud, which enables us to accurately and quickly locate the three-dimensional defective areas. Secondly, we propose a 2D weld positioning method based on the defect area and obtain the spatial position of the 3D weld by combining the relationship between 2D and 3D images. Additionally, we propose an orthogonal projection method from the point cloud to the aluminum alloy surface to calculate the weld reinforcement. Thirdly, we present a space spiral grinding trajectory planning method for complex curved surfaces based on the characteristics of the weld reinforcement, spatial position, and spatial position information of the defect area. This method shortens the grinding time of the defect area and improves efficiency. Simulation and experimental results show that our grinding trajectory planning method is more efficient than other grinding methods in removing defects from the surface of aluminum alloys. Moreover, the defect area after grinding is smoother than before.

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Section: Introductionmentioning

confidence: 99%

Automatic Aluminum Alloy Surface Grinding Trajectory Planning of Industrial Robot Based on Weld Seam Recognition and Positioning

et al. 2023

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“…Then, point cloud-based weld feature extraction methods can be divided into two categories. The first class of methods is based on the local features of point clouds [15,16].For example, Gao et al studied the spatial curve weld and extracted the spatial weld using the point cloud's normal feature [17].The second class of methods is based on the global geometric features of point clouds [18,19].For example, Yang et al proposed a weld extraction method based on the point-to-plane distance for plane butt V-type welds and realized the extraction of plane V-type welds [20].…”

Section: Introductionmentioning

confidence: 99%

A point cloud-based welding trajectory planning method for plane welds

Yuankai

Yong

Tian

et al. 2023

Int J Adv Manuf Technol

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Plane welds are a common type of weld in industrial sites. When the welding robot welds multiple types of plane welds at the same time, the traditional teaching and programming modes become relatively complicated. Therefore, in order to solve the problem of automatic robot welding of various types of plane welds, taking plane V-type butt, plane I-type butt, and plane lap welds as examples, this paper proposes a plane weld extraction method based on 3D vision. Firstly, in order to realize the line and plane segmentation of the workpiece point cloud, we establish the concept of plane point cloud density. Secondly, to segment workpiece edge lines, an iterative segmentation algorithm based on RANSAC is proposed. Then, based on the geometric features of the workpiece, a method for extracting weld feature points based on centroid positioning is proposed. Finally, the least squares method is used to fit the feature points of the welding seam to complete the welding trajectory planning. The experimental results show that the method can well solve the problem of automatic planning welding trajectory of plane V-type butt, plane I-type butt, and plane lap welds, to realize that the welding robot can simultaneously weld various plane welds without teaching and programming.

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A Simple yet Smart Welding Path Generator

Avramov

2023

Lecture Notes in Networks and Systems

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

Cited by 17 publications

References 19 publications

Automatic Aluminum Alloy Surface Grinding Trajectory Planning of Industrial Robot Based on Weld Seam Recognition and Positioning

Automatic Aluminum Alloy Surface Grinding Trajectory Planning of Industrial Robot Based on Weld Seam Recognition and Positioning

A point cloud-based welding trajectory planning method for plane welds

A Simple yet Smart Welding Path Generator

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