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2016
Conference Paper
Titel
Detection of abembly variations for automatic program adaptation in roboticwelding systems
Abstract
This paper proposes a novel approach for detection of abembly variations to adapt the programming of a robotic welding system. A matching proceb is performed between the different parts of an abembly CAD model and a measured point cloud using an Iterative Closest Point algorithm to determine abembly variations. Experimental validation is performed with an industrial robot equipped with stereo camera and welding gun. A method for accurate calibration of sensor and welding gun is presented as it influences the quality of the welding proceb. Experimental results show an increased weld seam quality and the robustneb of the proposed approach in industrial applications.