A Novel Point Cloud-Driven Framework for Enhanced Multi-Views Model Reconstruction and Robotic Arc Welding Trajectory Generation

Research question

How can multiple partial scans of an intersecting-pipe joint be combined into a continuous welding path with suitable torch orientations?

Method

Improved bidirectional nearest-neighbor matching and LM-ICP align the partial point clouds. Edge-intensity responses, B-spline fitting and local seam geometry then produce a smooth path and torch orientations.

Main findings

For two welding passes on an intersecting-pipe specimen, coordinate-wise trajectory RMSE ranged from 0.36 to 0.44 mm; the complete computation took 7.410 s. Experiments connected multi-view scanning, trajectory generation and robotic welding.