TY - GEN
T1 - Precise welding line detection of a hexahedron based on twisted motion of a scanning LRF
AU - Lee, Sungmin
AU - Park, Jaebyung
PY - 2012
Y1 - 2012
N2 - The precise welding line detection method based on twisted motion of a scanning laser range finder (LRF) is proposed for autonomous robotic welding of a hexahedron into a steel plate. For successful welding, the directions of the welding lines should be obtained precisely. For detecting welding line, more than two points on the welding line should be obtained. Thus, two points on the welding line are obtained based on the twisted motion of the scanning LRF. In this case, the feature point on the welding line is detected by applying the Hough transform into the sensor data of the LRF, taking the intrinsic characteristics of the sensor into consideration. Since the Hough transform is based on the voting mechanism, the sensor noise can be reduced. For verifying the feasibility of the proposed method, the simulation has been carried out with a commercial LRF model, UBG-04LX-F01 of Hokuyo Automatic Co., Ltd.
AB - The precise welding line detection method based on twisted motion of a scanning laser range finder (LRF) is proposed for autonomous robotic welding of a hexahedron into a steel plate. For successful welding, the directions of the welding lines should be obtained precisely. For detecting welding line, more than two points on the welding line should be obtained. Thus, two points on the welding line are obtained based on the twisted motion of the scanning LRF. In this case, the feature point on the welding line is detected by applying the Hough transform into the sensor data of the LRF, taking the intrinsic characteristics of the sensor into consideration. Since the Hough transform is based on the voting mechanism, the sensor noise can be reduced. For verifying the feasibility of the proposed method, the simulation has been carried out with a commercial LRF model, UBG-04LX-F01 of Hokuyo Automatic Co., Ltd.
KW - Automatic Robotic Welding
KW - Scanning Laser Range Finder (LRF)
KW - Twisted Motion
UR - https://www.scopus.com/pages/publications/84872556093
M3 - Conference paper
AN - SCOPUS:84872556093
SN - 9781467322478
T3 - International Conference on Control, Automation and Systems
SP - 1178
EP - 1180
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
T2 - 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Y2 - 17 October 2012 through 21 October 2012
ER -