An efficient system based on model segmentation for weld seam grinding robot

Uneven surface quality often occurs when manual grinding butt welds, so robot welding seam automation has become a fast-developing trend. Weld extraction and trajectory planning are important for automatic control of process. However, the research on weld is mostly focused pre-welding. Due to irregular shape after complex process, there seldom work that been devoted welding. Consequently, novel simple but efficient algorithm proposed in this paper, path planned. Firstly, multi-degree freedom bracket designed extraction. Secondly, profile model established, effective based segmentation transform calculating process spatial point cloud into two-dimensional The least-square method (LSM) threshold comparison used segment seam, which greatly improves processing speed accuracy. Then, pose calculated according extracted structure seam. Finally, an robotic system built. Experiments’ results showed could make contour well-extract built reliable. efficiency increased by 50%.