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

Gesture-based control on UR

Leap motion UR