Abstract
In this paper, a method for welding track correction based on emulational laser and trajectory are introduced. The proposed method is divided into two parts: seam tracking and trajectory correction. In the seam tracking method, by using the prior information of emulational laser stripes which are generated by the simulation software and affine transformation of emulational laser stripes, the real seam point can be detected. And then the trajectory correction method mainly consists of three steps: pre-processing, coarse matching and presice matching by using Iterative Closest Point Matching (ICP). For various conditions and workpieces, the corresponding experiments are conducted in this paper. Experimental results demonstrate that the method can meet the requirement of the internal seams tracking of workpiece and accuracy of welding track correction.
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Acknowledgements
The authors would like to gratefully acknowledge the reviewers comments. This work is supported by National Natural Science Foundation of China (Grant Nos. U1713207 and 52075180), Science and Technology Program of Guangzhou (Grant Nos. 201904020020), and the Fundamental Research Funds for the Central Universities.
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Wang, N., Yang, J., Zhong, K., Zhang, X. (2020). A Method for Welding Track Correction Based on Emulational Laser and Trajectory. In: Chan, C.S., et al. Intelligent Robotics and Applications. ICIRA 2020. Lecture Notes in Computer Science(), vol 12595. Springer, Cham. https://doi.org/10.1007/978-3-030-66645-3_42
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