2D image to 3D CAD model mapping of a T-joint pipe mapping for an intuitive robot teaching system

This report presents the mapping process for 2D image with 3D CAD model of cylinders and T-joint pipes. The mapping is the critical process to conduct the intuitive robot path teaching to complete the welding tasks. This project aims to improve the intuitive method for robot path teaching using augm...

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Main Author: Liu, Ying.
Other Authors: Gong Yi
Format: Final Year Project
Language:English
Published: 2013
Subjects:
Online Access:http://hdl.handle.net/10356/54588
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-545882023-07-07T16:04:05Z 2D image to 3D CAD model mapping of a T-joint pipe mapping for an intuitive robot teaching system Liu, Ying. Gong Yi School of Electrical and Electronic Engineering A*STAR SIMTech DRNTU::Engineering::Electrical and electronic engineering::Wireless communication systems This report presents the mapping process for 2D image with 3D CAD model of cylinders and T-joint pipes. The mapping is the critical process to conduct the intuitive robot path teaching to complete the welding tasks. This project aims to improve the intuitive method for robot path teaching using augmented reality technology. The system setup and augmented reality environment was developed by SimTech. Traditional robot path teaching methods that rely on teaching pendants are known to be tedious, time-consuming and unsafe. By fusing the sensor information from a camera, an augmented reality environment was created. With the aid of a virtual CAD model, it is able to reconstruct the 3D space visible on the camera image. Applying this technology in a human and robot interaction system have improved the teaching process efficiency. The pipes are widely used in manufacturing and welding on cylinders’ intersection points are difficult for traditional robot. The pipe image and CAD model is used to carry out robot path teaching for cylinder intersection welding more intuitively. Unlike other shapes with feature points, the pipes that consist of two cylinders have no direct feature points. This report describes how the algorithm conducts feature points determination for cylinder and pipe mappings. This report also presents the homogenous transformation matrix calculated to construct the 3D T-joint Pipe CAD model using OpenGL. In the report, the implementation of the algorithm in the system is described using program flow chart, screenshot of system interface and mathematic calculation. Lastly, the report summarizes the project findings and gives recommendations for future work. Bachelor of Engineering 2013-06-24T06:08:07Z 2013-06-24T06:08:07Z 2013 2013 Final Year Project (FYP) http://hdl.handle.net/10356/54588 en Nanyang Technological University 47 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering::Wireless communication systems
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Wireless communication systems
Liu, Ying.
2D image to 3D CAD model mapping of a T-joint pipe mapping for an intuitive robot teaching system
description This report presents the mapping process for 2D image with 3D CAD model of cylinders and T-joint pipes. The mapping is the critical process to conduct the intuitive robot path teaching to complete the welding tasks. This project aims to improve the intuitive method for robot path teaching using augmented reality technology. The system setup and augmented reality environment was developed by SimTech. Traditional robot path teaching methods that rely on teaching pendants are known to be tedious, time-consuming and unsafe. By fusing the sensor information from a camera, an augmented reality environment was created. With the aid of a virtual CAD model, it is able to reconstruct the 3D space visible on the camera image. Applying this technology in a human and robot interaction system have improved the teaching process efficiency. The pipes are widely used in manufacturing and welding on cylinders’ intersection points are difficult for traditional robot. The pipe image and CAD model is used to carry out robot path teaching for cylinder intersection welding more intuitively. Unlike other shapes with feature points, the pipes that consist of two cylinders have no direct feature points. This report describes how the algorithm conducts feature points determination for cylinder and pipe mappings. This report also presents the homogenous transformation matrix calculated to construct the 3D T-joint Pipe CAD model using OpenGL. In the report, the implementation of the algorithm in the system is described using program flow chart, screenshot of system interface and mathematic calculation. Lastly, the report summarizes the project findings and gives recommendations for future work.
author2 Gong Yi
author_facet Gong Yi
Liu, Ying.
format Final Year Project
author Liu, Ying.
author_sort Liu, Ying.
title 2D image to 3D CAD model mapping of a T-joint pipe mapping for an intuitive robot teaching system
title_short 2D image to 3D CAD model mapping of a T-joint pipe mapping for an intuitive robot teaching system
title_full 2D image to 3D CAD model mapping of a T-joint pipe mapping for an intuitive robot teaching system
title_fullStr 2D image to 3D CAD model mapping of a T-joint pipe mapping for an intuitive robot teaching system
title_full_unstemmed 2D image to 3D CAD model mapping of a T-joint pipe mapping for an intuitive robot teaching system
title_sort 2d image to 3d cad model mapping of a t-joint pipe mapping for an intuitive robot teaching system
publishDate 2013
url http://hdl.handle.net/10356/54588
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