Motion Capture and Augmented‐Reality‐Assisted Surface Reconstruction and Robotic Remanufacturing System

摘要

The remanufacturing of complex curved workpieces has a high added value. However, conventional remanufacturing robots have not been widely used due to complex equipment, isolated manufacturing processes, and lack of skill. Traditional methods are difficult to adapt to the unstructured environment of remanufacturing. In this article, an augmented reality (AR)‐ and motion‐capture‐assisted surface remanufacturing system that provides more intuitive and efficient programming compared to traditional techniques is presented. An AR remanufacturing virtual simulation system registered with a physical system in three dimensions is designed. A multisystem registration method is proposed to register the motion capture system, the robot system, and the AR system. A motion‐tracked handheld pointer is designed to reconstruct a virtual model of the area to be repaired directly on the surface of the workpiece. Remanufacturing path planning algorithms and AR simulations are designed. Universal robot (UR)10 robot experiments verified the correctness of the proposed method.