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.

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PDF (Paper presented at ISVC'13 Crete, 29-31 July 2013) root_submission_ISVC13.pdf - Submitted Version 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.

Item Type:	Book Section
Research Institute, Centre or Group - Does NOT include content added after October 2018:	Cultural Communication and Computing Research Institute > Communication and Computing Research Centre
Page Range:	244-253
Depositing User:	Marcos Rodrigues
Date Deposited:	28 Aug 2013 10:45
Last Modified:	18 Mar 2021 13:46
URI:	https://shura.shu.ac.uk/id/eprint/7278

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