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An active 3D robot vision system for robotic welding applications

Lilas T., Kollias S.

Machine Graphics and Vision

2000

Vol. 9, No. 4

743-762

In this paper we present development of an active three-dimensional robot vision system, conducted on a large gantry-type welding-robot. The constraints are a complex working environment and the size of the robot system, tackled by developing and using technoques from several research fields. In particular, laser lighting is combined with stereo vision and photogrammetry in order to obtain accurate three-dimensional measurements. Computational geometry methods based on Delaunay triangulations are used to generate a three-dimensional model of the object. Pattern matching and segmentation techniques are used to evaluate the model and identify its important features. Path planning techniques are used for guiding the tool around the object and adapting trajectories to fulfill the welding requirements. The proposed active vision system significantly increases the potential of the welding robot system, constituting a sophisticated sensor system that is effective for robotic applications.