Publikationsdatenbank
Publication
Coarse Geometry acquisition of welding parts using a novel cheap depth sensorThorsten 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: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?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{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=gecks2012a}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| gecks2012a.Coarse.Geometry.acquisition.of.welding.parts.usin g.a.novel.cheap.depth.sensor.pdf |
533K | english | download preprint |