Coarse Geometry acquisition of welding parts using a novel cheap depth sensor (Englisch)

ROBOTIK 2012 - 7th German Conference on Robotics; 2012; Munich, Germany
in ROBOTIK 2012 ; 6
ROBOTIK 2012

We present a human-robot-cooperation welding system, consisting of several phases including a coarse acquisition of the work piece geometry, interactive fine-scanning of welding seam regions and automated optimizing path planning after task specification by the user. The coarse geometry acquisition component is explained in detail showing the feasible application of a novel and cheap 3D-Sensor (MS KINECT) in this domain. The evaluation shows promising and sufficient results for planning the acquisition of high-resolution fine scans using a standard laser scanner and the use of an automated path planning component. The path planning is based on a bidirectional RRT planner followed by a path optimization. The system thus enables the human coworker to specify a welding task for unknown geometries fast to the machine and relieves him from the tedious robot movement planning during the actual welding phase.

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Dokumentinformationen

  • Titel:
    Coarse Geometry acquisition of welding parts using a novel cheap depth sensor
  • Autor / Urheber:
  • Kongress:
    ROBOTIK 2012 - 7th German Conference on Robotics; 2012; Munich, Germany
  • Seite:
    6
  • Verlag:
    VDE VERLAG GMBH
  • Erscheinungsjahr:
    2012
  • Format / Umfang:
    6 pages
  • ISBN:
  • Medientyp:
    Aufsatz (Konferenz)
  • Format:
    Elektronische Ressource
  • Sprache:
    Englisch

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