Low-Cost and Reduced-Size 3D-Cameras Metrological Evaluation Applied to Industrial Robotic Welding Operations

• Type: Article in International Conference Proceedings Book
• Date: 2021

Authors

de Souza, JPC (Author) FEUP; Rocha, LF (Author) FEUP; Filipe, VM (Author) Other; Boaventura Cunha, J (Author) Other; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: 2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Pages: 123-129

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 1 Citation

Other information

Authenticus ID: P-00T-XW7

DOI: 10.1109/icarsc52212.2021.9429788

Abstract (EN): Nowadays, the robotic welding joint estimation, or weld seam tracking, has improved according to the new developments on computer vision technologies. Typically, the advances are focused on solving inaccurate procedures that advent from the manual positioning of the metal parts in welding workstations, especially in SMEs. Robotic arms, endowed with the appropriate perception capabilities, are a viable solution in this context, aiming for enhancing the production system agility whilst not increasing the production set-up time and costs. In this regard, this paper proposes a local perception pipeline to estimate joint welding points using small-sized/low-cost 3D cameras, following an eyes-on-hand approach. A metrological 3D camera comparison between Intel Realsene D435, D415, and ZED Mini is also discussed, proving that the proposed pipeline associated with standard commercial 3D cameras is viable for welding operations in an industrial environment.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7