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Unity Point Cloud Kuka Robot Laser Cutting
This project aimed, to laser cut 3D scanned components via point cloud.
Initially Points Cloud were generated using Ensenso N35 stereoscopic camera. Then mesh were cleaned with set of filters, using Meshalb and CloudCompare. This process were automated.
For case of this simulation test, meshes are already generated. Once meshes are imported, operator can select desired cutting path. After few selected points, robot movement is computed and collisions are checked, to avoid manipulator collision with elements.
In further part of this project (not shown), once path is tested and confirmed by an operator, result is ported to database, then to IGS, using python interface. IGS can communicate further with real world Kuka robot.
Project is far from finished and holds lots of challenges to be resolved, along with specification of the project. Significant element of the path checking, is the orientation of the laser, in such way, to avoid collision of the robotic arm, with 3D components. These can be of different shapes and sizes.