Robotic Welding path planning (demo)
Overview
This script is used for Robotic Weling path planning demo on various workpiece. It has 4 functions:
- convert point cloud from ROS To Open3d
- find the corresponding groove
- compute the trajectroy
- mutilayer planning
The result looks this this:
Detail
The system is built and tesated on ROS kinetic. Much of the point cloud processing used open3d 0.9.
1.convert point cloud from ROS To Open3d
Adopted from felixchenfy.
2.find the corresponding groove
Part of the methods is adopted from our robotic-sealing on robotic welding. We used a different geometry featrue (asymmetry) this time and optimised the processing. The seam can be detected on a real-time basis.
3.compute the trajectroy
After getting the groove, we find the centerline of the region and then ordered it.
The detail can be found at 3D-Point-Cloud-Curve-Extraction.
4.mutilayer planning
For detail, please check Mutilayer weld path planning.
Related links
Publication
P. Zhou, R. Peng, M. Xu, V. Wu and D. Navarro-Alarcon. Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding, IEEE Robotics and Automation Letters (RA-L) (under review), 2020. [pdf]
Video: Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding