Open AccessAn Approach to Edge Extraction Based on 3D Point Cloud for Robotic Chamfering
Author(s) -
Yongzhi Wang,
Zhijiang Du,
Yongzhuo Gao,
Mingyang Li,
Wei Dong
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1267/1/012015
Subject(s) - point cloud , automation , enhanced data rates for gsm evolution , computer science , process (computing) , chamfer (geometry) , robot , point (geometry) , artificial intelligence , computer vision , engineering drawing , mechanical engineering , engineering , mathematics , geometry , operating system
Inconsistency of workpieces always results in low level automation of subsequent finishing process. As decreasing number of skilled workers, the demands of flexible manufacturing with robots is growing. In this paper, a kind of workpiece with complex free-form surface will be chamfered by industrial robots. Due to the intolerant differences among workpieces, traditional teach-playback method for robot is not appropriate for this application. The edge spline of each workpiece needs to be detected so that trajectories are generated to chamfer. Thus, an approach to edge extraction based on a 3D point cloud obtained by the 3D industrial camera is introduced to solve this problem. A time optimizing method is proposed to accelerate the extraction process. Finally, we decrease computing time from 55 minutes to 300 seconds, and the precision is 0.4180 mm.