Abstract
Abstract
In this paper, we propose a monocular encoded structured light-based path generation method for sole roughening, and the obtained paths are used to guide a six-degree-of-freedom (DOF) robot for automatic roughening, which greatly improves the quality and efficiency of roughening. First, we selected monocular structured light as the vision system. To improve the calibration and reconstruction accuracy of the projector, we used an improved Three-Wavelength Phase-Shift Profilometry technique (TWPSP) to calibrate the projector, and the accuracy was improved by 26.29% compared with the conventional method. Then, we proposed a Three Coordinate Scanning Weighted-Principal Component Analysis (TCSW-PCA) algorithm as the path planning system. The experimental results show that the six-DOF-robot can automatically roughen different types of soles according to the generated roughening paths, and the processing efficiency and finished product quality of our proposed method of automatic roughening are better than other roughening methods, with an average improvement of 42% in roughening effect and an average improvement of 30.52% in roughness.
Funder
Program for Innovative Research Team in University of Tianjin
Tianjin Science and Technology Popularization Project
National Natural Science Foundation of China
Subject
Condensed Matter Physics,Mathematical Physics,Atomic and Molecular Physics, and Optics