  In this paper, in order to pursue high-efficiency robotic arc welding tasks,
we propose a method based on point cloud acquired by an RGB-D sensor. The
method consists of two parts: welding groove detection and 3D welding
trajectory generation. The actual welding scene could be displayed in 3D point
cloud format. Focusing on the geometric feature of the welding groove, the
detection algorithm is capable of adapting well to different welding workpieces
with a V-type welding groove. Meanwhile, a 3D welding trajectory involving
6-DOF poses of the welding groove for robotic manipulator motion is generated.
With an acceptable error in trajectory generation, the robotic manipulator
could drive the welding torch to follow the trajectory and execute welding
tasks. In this paper, details of the integrated robotic system are also
presented. Experimental results prove application value of the presented
welding robotic system.
