This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point algorithm. Then, a bilateral filter is extended to denoise the workpiece model and preserve important geometrical information. To extract the welding seam from the model, a novel intensity-based algorithm is proposed that detects edge points and generates a smooth 6-DOF welding path. The methods are tested on multiple workpieces with different joint types and poses. Experimental results prove the robustness and efficiency of this robotic system on automatic path planning for welding applications.

中文翻译：

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机器人电弧焊点云模型上接缝自动提取的路径规划

本文提出了一种基于点云的弧焊机器人系统。该系统使用手势控制，扫描工件的部分点云视图，并通过线性迭代最近点算法将其重建为完整的3D模型。然后，扩展双边过滤器以对工件模型去噪并保留重要的几何信息。为了从模型中提取焊缝，提出了一种基于强度的新颖算法，该算法可以检测边缘点并生成平滑的6自由度焊接路径。该方法在具有不同关节类型和姿势的多个工件上进行了测试。实验结果证明了该机器人系统在焊接应用自动路径规划中的鲁棒性和效率。