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Coarse Geometry acquisition of welding parts using a novel cheap depth sensor
Thorsten Gecks , Dominik Henrich

Abstract (english)
We present a human-robot-cooperation welding system, consisting of several phases including a coarse acquisi-tion of the work piece geometry, interactive fine-scanning of welding seam regions and automated optimizing path planning after task specification by the user. The coarse geometry acquisition component is explained in detail showing the feasible application of a novel and cheap 3D-Sensor (MS KINECT) in this domain. The eval-uation shows promising and sufficient results for planning the acquisition of high-resolution fine scans using a standard laser scanner and the use of an automated path planning component. The path planning is based on a bidirectional RRT planner followed by a path optimization. The system thus enables the human coworker to specify a welding task for unknown geometries fast to the machine and relieves him from the tedious robot movement planning during the actual welding phase.

Publication data

Year: 2012
Publication date: 21. May 2012
Source: 7th German Conference on Robotics (ROBOTIK 2012), Munich, Germany, May 21 - 22, 2012
Keywords (deutsch): Mensch-Roboter-Kooperation
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=gecks2012a

BibTeX

@ARTICLE{gecks2012a,
  TITLE             = "Coarse Geometry acquisition of welding parts using a novel cheap depth sensor",
  AUTHOR            = "Gecks, Thorsten and Henrich, Dominik",
  YEAR              = "2012",
  JOURNAL           = "7th German Conference on Robotics (ROBOTIK 2012), Munich, Germany, May 21 - 22, 2012",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=gecks2012a}",
}

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gecks2012a.Coarse.Geometry.acquisition.of.welding.parts.using.a.novel.cheap.depth.sensor.pdf   533K   english   PDF   download preprint


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