Weld Seam Differentiation and Welding Torch Attitude Determination Based on Point Cloud Data

With the development of robotics technology, robotic arm welding tends to be more and more automatic and intelligent. To address the difficulty in determining the welding torch attitude caused by the uncertainty in the geometry and position information of the workpiec, a method for calculating the welding torch attitude based on the point cloud information of the workpiece is proposed. Firstly, the vector used to determine the welding torch attitude is identified based on the workpiece point cloud information. Then the attitude of the welding torch coordinate system relative to the world coordinate system is calculated from the vector. In addition, the method distinguishes between various types of weld seams and accurately determines the corresponding welding torch attitude. Finally, we conducted experiments on a bucket workpiece containing various types of weld seams, which successfully verified the adaptability and effectiveness of the method.