RGB-D sensor-based Auto Path Generation Method for Arc Welding Robot

In this paper, an auto path generation method for arc welding robot is proposed by using a RGB-D sensor. From the generated 3D point cloud of the weld workpiece, the welding line is extracted and the path points of the robot are generated by an auto path generation algorithm. So the torch tip of the arc welding robot would walks along the welding line. This path generation module is added to current widely used ordinary arc welding robot while not changing it, used to assist people when teaching arc welding robots. This maybe eventually replace operator by automatically generate the path. The detail algorithm of the recognizing space curve welding lines and the auto path point generation method are emphasized in this paper. Experimental result shows the application feasibility of the proposed method.