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:
The system is built and tesated on ROS kinetic. Much of the point cloud processing used open3d 0.9.
Adopted from felixchenfy.
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.
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.
For detail, please check Mutilayer weld path planning.
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