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Deformable shape registration using surface-based free-form deformations in robotic welding

: Kuss, Alexander; Ksensow, Konstatin; Verl, Alexander

Postprint urn:nbn:de:0011-n-4701808 (905 KByte PDF)
MD5 Fingerprint: ea6727f2562892cc03eccd8d4020348c
Erstellt am: 24.10.2017

Buss, M. ; Institute of Electrical and Electronics Engineers -IEEE-; IEEE Robotics and Automation Society; American Society of Mechanical Engineers -ASME-:
IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 : 3-7 July 2017, Munich, Germany
Piscataway, NJ: IEEE, 2017
ISBN: 978-1-5090-6000-9
ISBN: 978-1-5090-5998-0
ISBN: 978-1-5090-5999-7
ISBN: 978-1-5090-6001-6
International Conference on Advanced Intelligent Mechatronics (AIM) <2017, Munich>
European Commission EC
H2020-EU.2.1.1.; 688217; ROBOTT-NET
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
Industrieroboter; Schweißroboter; free formed surface; CAD; Robotersteuerung; Wegplansteuerung; Robotersensorik

In this paper, a novel approach is presented to perform a deformable shape registration of workpiece geometries in robotic welding. Based on the free-form deformation (FFD) method, a surface-based extension FFDS is presented where the initial shape of the control points lattice corresponds to the shape of the surface to be deformed. A point-based registration is performed using the sum of least squares criteria to obtain the non-rigid shape transformation. The deformation is applied to the computer-aided design (CAD) model of the workpiece geometry preserving its topology for subsequent robot path planning to move a welding gun along the deformed part contours. The performance of the presented approach is evaluated using virtual test data and rea measurements of a welding workpiece obtained with a 3D sensor. Moreover, the performance of this approach is compared to state of the art deformable shape registration revealing a significant reduction of computation time and the usability for path planning in robotic welding.