Application of a Disordered Grasping Strategy in Polishing Steel Plates of Ship Parts
Ship parts are an important part of ship manufacturing,and its intelligent transformation is imperative.At present,the domestic small marine components are still in the stage of manual grinding,and the small steel used in the construction process of the ship is usually placed in a disorderly bin.According to the disordered placement of different kinds of workpieces,the position and pose information of the target workpieces and the grinding trajectory information of the trussed robot are obtained through the processing of external contour point cloud,drawing template matching,rough registration and fine registration of the target workpieces.The test results show that the polished workpiece meets the Chinese shipbuilding quality standard,and the efficiency is improved compared with the traditional manual grinding method.
NETL
NSTL
万方数据
