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  4. Deformable shape registration using surface-based free-form deformations in robotic welding
 
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2017
  • Konferenzbeitrag

Titel

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

Abstract
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.
Author(s)
Kuss, Alexander
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Ksensow, Konstatin
Hochschule für Technik Stuttgart
Verl, Alexander
Universität Stuttgart, Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen
Hauptwerk
IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Project(s)
ROBOTT-NET
Funder
European Commission EC
Konferenz
International Conference on Advanced Intelligent Mechatronics (AIM) 2017
DOI
10.1109/AIM.2017.8014130
File(s)
N-470180.pdf (905.66 KB)
Language
Englisch
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IPA
Tags
  • Industrieroboter

  • Schweißroboter

  • free formed surface

  • CAD

  • Robotersteuerung

  • Wegplansteuerung

  • Robotersensorik

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