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METHOD FOR CONSTRUCTING CURVE OF ROBOT PROCESSING PATH OF PART WITH SMALL CURVATURE BASED ON POINT CLOUD BOUNDARY
METHOD FOR CONSTRUCTING CURVE OF ROBOT PROCESSING PATH OF PART WITH SMALL CURVATURE BASED ON POINT CLOUD BOUNDARY
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机译:基于点云边界的小曲率零件机器人处理路径曲线构造方法
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摘要
The disclosure discloses a method for constructing actual processing curve of part with small curvature based on a point cloud boundary. The method includes: (a) encrypting a three-dimensional ordered boundary curve of a part to be processed; (b) fitting encrypted boundary points into a plane, and projecting each boundary point into the plane to obtain a projection point; (c) performing Euclidean cluster within the plane to obtain point sets, and fitting the obtained point sets into a straight line; (d) performing the Euclidean cluster on projection points that are not fitted into the straight line to obtain corner point sets, and fitting a sharp corner or a rounded corner of the corner point sets to obtain a fitted boundary curve within the plane; (e) mapping the fitted boundary curve to a curved surface of the three-dimensional ordered boundary curve to obtain an actual processing curve of the part to be processed.
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