Robot trajectory planning using OLP and structured light 3D machine vision

RODRIGUES, Marcos, KORMANN, Mariza, SCHUHLER, C and TOMEK, P (2013). Robot trajectory planning using OLP and structured light 3D machine vision. In: BEBIS, G, (ed.) Lecture notes in Computer Science Part II. LCNS, 8034 (8034). Heidelberg, Springer, 244-253. [Book Section]

Documents
7278:14208
[thumbnail of Paper presented at ISVC'13 Crete, 29-31 July 2013]
Preview
PDF (Paper presented at ISVC'13 Crete, 29-31 July 2013)
root_submission_ISVC13.pdf - Submitted Version
Available under License Creative Commons Attribution Non-commercial No Derivatives.

Download (4MB) | Preview
Abstract
This paper proposes a new methodology for robotic offline programming (OLP) addressing the issue of automatic program generation directly from 3D CAD models and verification through online 3D reconstruction. Limitations of current OLP include manufacturing tolerances between CAD and workpieces and inaccuracies in workpiece placement and modelled work cell. These issues are addressed and demonstrated through surface scanning, registration, and global and local error estimation. The method allows the robot to adjust the welding path designed from the CAD model to the actual workpiece. Alternatively, for non-repetitive tasks and where a CAD model is not available, it is possible to interactively define the path online over the scanned surface.
More Information
Statistics

Downloads

Downloads per month over past year

Share
Add to AnyAdd to TwitterAdd to FacebookAdd to LinkedinAdd to PinterestAdd to Email

Actions (login required)

View Item View Item