A Method of Welding Path Planning of Steel Mesh Based on Point Cloud for Welding Robot

Abstract

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 obtainthe 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.

An exploratory study of dynamic foot shape measurements with 4D scanning system

“…Therefore, the first step of scanned image processing is 3D point cloud filtering, which is used to remove the noise and outliers 48,49 . A large number of variant filters have been proposed for different types of surfaces and noise models 48,49 , including the Statistical Outlier Removal filter 50,51 , Bilateral filter 52,53 , Radius Outlier Removal 54 , and Voxel Grid filter 55 , etc. However, none of these methods are appropriate as they require an iterative trial-and-error process to choose the algorithm and the parameters based on the scanned surface and noise characteristics.…”