An accurate pose measurement method of workpiece based on rapid extraction of local feature points |
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| Authors: | ZHANG Jiangtao QIAO Zhifeng and WANG Shihao |
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| Affiliation: | Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China,Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China and Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin 300384, China |
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| Abstract: | Ceramic sanitary products with complex curved surfaces are generally fragile and difficult to clamp. If the industrial robot is utilized to realize the automatic grinding of such products, the precise positioning of the product is required firstly. In this paper, an accurate pose measurement system for complex curved surface parts is designed by point cloud registration algorithm. In order to improve the stability of the system, this paper combines the advantages of normal vector features and fast point feature histogram (FPFH) features, and proposes a point cloud registration algorithm based on the rapid extraction of local feature points. Experimental results verify that the improved algorithm has improved both efficiency and accuracy, and the system can effectively achieve accurate positioning of products. |
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