3D Vision-Guided Robotic Grinding Framework for Repairing Random Defects

摘要

Robotic grinding is utilized for machining large complex components due to its exceptional flexibility and expansive workspace. However, the existing research primarily focuses on the global machining and lacks solutions for repair and remanufacturing of components with local defects. In order to perform the local repair efficiently, this paper proposes a 3D vision-guided robotic grinding framework for repairing random defects, by taking the removal of welding slags on the automotive body as an example. Based on the measured point cloud, a robust function weighted variance minimization (RFWVM) registration algorithm is utilized to position the automotive body with high precision. Meanwhile, the datum plane is reconstructed to extract the defect point clouds. On this basis, the welding slags are divided into regions in accordance with their height characteristics. For these regions, a robotic grinding depth prediction model is then constructed to determine the mapping between welding slag height and process parameters, and the genetic algorithm is further improved to solve the shortest path decision-making problem in robotic grinding. The experimental results conducted in a typical region of an automotive body confirm the practicality and effectiveness of the proposed framework. This study provides a valuable reference for local defects repair of complex components.