Li En

RGB-D sensor-based auto path generation method for arc welding robot

In this paper, an auto path generation method for arc welding robot is proposed by using a RGB-D sensor. From the generated 3D point cloud of the weld workpiece, the welding line is extracted and the path points of the robot are generated by an auto path generation algorithm. So the torch tip of the arc welding robot would walks along the welding line. This path generation module is added to current widely used ordinary arc welding robot while not changing it, used to assist people when teaching arc welding robots. This maybe eventually replace operator by automatically generate the path. The detail algorithm of the recognizing space curve welding lines and the auto path point generation method are emphasized in this paper. Experimental result shows the application feasibility of the proposed method.

Random based narrow space path planning for arm manipulation with the fixed orientation constraints

Arm manipulation is a skill for robot working in cluttered environment. In this work, we focus on arm manipulation in narrow space with the end-effector to be a certain orientation. In this paper, we present a random, smooth path planning algorithm to avoid the obstacles considering every link of the arm, moving the arm from the starting point to the destination. Our planning algorithm can make the path similar in different planning process because the algorithm is end-point oriented. The simulation result validates the effectiveness of the algorithm.