摘要
针对航空航天领域中空间曲线焊缝示教再现型机器人焊接效率较低的问题,尤其是复杂的相贯线焊接,提出了一种基于优化后的RANSAC和ICP点云算法的相贯线机器人免示教自主焊接方法。首先基于相贯线理论模型,对采集到的工件点云进行预处理,并采用优化后的RANSAC算法,选取一定数量的点作为样本点拟合曲面,计算所有数据点到柱面的距离,根据预设阈值筛选出落在拟合曲面上的点,通过筛选出的点重新拟合出实际的圆柱面方程。然后通过ICP算法,迭代寻找两个点云之间的最近点对,计算最优的刚性变换,使源点云在目标点云的坐标系下对齐。最后试验验证了所提出的基于优化后的RANSAC和ICP点云优化算法,实现复杂空间曲线的机器人免示教自主焊接。
In response to the challenges about the low efficiency of welding in the aerospace field,particularly the complex intersection line welding,this paper proposes a teaching-free autonomous welding method for robots based on an optimized RANSAC and ICP point cloud algorithm for intersecting lines.First,based on the intersecting line theoretical model,the point cloud data of the collected workpiece is preprocessed.The optimized RANSAC algorithm is then used to select a set number of points as sample points to fit a surface,calculating the distance from all data points to the cylinder.Points that fall on the fitted surface are selected according to a preset threshold,and a new cylindrical surface equation is fitted using the selected points.Next,the ICP algorithm iteratively searches for the closest point pairs between two point clouds,calculating the optimal rigid transformation to align the source point cloud with the target point cloud in the target coordinate system.Finally,experimental results validate the proposed teaching-free autonomous welding method for complex spatial curves,using the optimized RANSAC and ICP point cloud optimization algorithms.
作者
熊凡
许燕玲
王杏华
马晓阳
王强
张华军
XIONG Fan;XU Yanling;WANG Xinghua;MA Xiaoyang;WANG Qiang;ZHANG Huajun(Intelligentized Robotic Welding Technology Laboratory,School of Materials Science and Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Inner Mongolia Research Institute,Shanghai Jiao Tong University,Hohhot 010010,China;Luoyang Ship Material Research Institute,Luoyang 471000,China)
出处
《航空制造技术》
北大核心
2025年第20期100-108,共9页
Aeronautical Manufacturing Technology
基金
国家自然科学基金面上项目(61973213)
内蒙古自治区-上海交通大学科技合作重点专项(2023XYJG0001-01-01)
中央引导地方科技发展资金(2025ZY0092)。
关键词
机器人焊接
自动编程
视觉传感
空间曲线焊缝
相贯线焊接
Robotic welding
Automatic programming
Visual sensing
Space intersecting lines
Intersection line welding
