Automated Grinding System and Method for Robotic Weld Seams Based on Point Cloud
Service life and dynamic performance of structural components were affected by the ac-curacy and surface consistency of weld grinding.Currently,weld grinding mainly relied on manual or trajectory teaching methods,which had problems such as poor uniformity,low efficiency and high cost.So,a point cloud-based automated grinding system for robotic weld seams was proposed.A quadratic streamlining method for weld seam point cloud was proposed to obtain the global informa-tion of the weld seam surfaces accurately,and the weld seam width,height,and centerline features were extracted based on the distances between sampling points and neighborhood center of gravity points.The errors of height and width of the extracted weld seams are as 0.09 mm and 0.2 mm respec-tively,and the minimum residual height of the weld seams after grinding is as 0.17 mm,and the vlaue of surface roughness Ra is up to 0.498 μm.
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