An optimal path-generation algorithm for manufacturing of arbitrarily curved surfaces using uncalibrated vision |
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Authors: | Emilio J. Gonz lez-Galv n, Ambrocio Loredo-Flores, J. Jesú s Cervantes-S nchez, L. Antonio Aguilera-Cort s,Steven B. Skaar |
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Affiliation: | Emilio J. González-Galván, Ambrocio Loredo-Flores, J. Jesús Cervantes-Sánchez, L. Antonio Aguilera-Cortés,Steven B. Skaar |
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Abstract: | Multiple industrial manufacturing tasks require a complex path to be followed precisely over an arbitrary surface which has a geometry that is not known with precision. Examples of such tasks include welding, glue-application, cutting, plasma-spraying, etc., over commercial plates whose geometry cannot be known in advance. Such processes are in general referred to as surface manufacturing. In this work, a path is traced over the surface in an optimal fashion, using the concept of geodesic mapping. By definition, a geodesic line is the shortest line that joins two points over a surface whose algebraic representation is known. Such an optimal solution of a problem, associated with variational calculus, is the approach employed for mapping complex paths, defined in a data base, over a surface of arbitrary geometry. The straight-line segments in which a complex path can be divided are mapped onto an arbitrary surface as geodesic lines. The presented algorithm enables a user to interact with the system in a simple and efficient manner using a commercial computer pointing device. The algorithm was tested experimentally in an industrial maneuver involving arc welding, using an industrial robot and a method of vision-based, robot guidance known as camera-space manipulation. This method has the advantage of not requiring calibration of optical or mechanical components. |
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Keywords: | Path-tracking Path-generation Vision control Camera-space manipulation Geodesic mapping |
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