20.500.12556/DKUM-98753 Point cloud-based robot welding trajectory generation for half-open corner joints Robotic welding for complex geometries, such as the half-open corner joint, requires precise, automated trajectory planning, a challenge largely unaddressed in current literature. This paper presents a novel point cloud-based method for automated robot welding trajectory generation specifically for this joint type. The innovation is a complete and computationally efficient pipeline, leveraging 2D laser line sensor data and point cloud processing to automatically detect the joint and generate an optimized, geometry-consistent 6-DoF trajectory. Crucially, the method calculates the optimal welding torch orientation, consistently maintaining an inclination relative to the joint geometry to ensure weld quality. The generated trajectory is automatically converted into executable ABB RAPID code. In simulation, the approach demonstrates high precision against a CAD reference, achieving a mean trajectory error of only 0.450 mm and a maximum error of 1.033 mm, enhancing automation and efficiency in challenging robotic welding applications. The tool center speed comparison between generated trajectory with algorithm and programmed trajectory also shows a difference of less than 0.17 mm/s. It has also been shown that the generated trajectory with algorithm consumes less energy than the programmed trajectory. robotic welding 2D laser sensor point cloud half-open corner joint trajectory generation robotsko varjenje 2D laserski senzorji oblak točk napol odprt kotni spoj generiranje trajektorije true false true Elsevier Angleški jezik Slovenski jezik https://www.sciencedirect.com/science/article/pii/S0921889026002848?via%3Dihub Članek v reviji 2026-07-06 14:28:24 2026-07-06 14:28:24 2026-07-07 03:06:17 0000-00-00 00:00:00 2026 0 0 14 str. Vol. 205, [article no.] 105612 July 2026 0000-00-00 Zaloznikova Objavljeno NiDoloceno 2025-12-22 2026-06-29 2026-07-03 621.71:007.52 283708419 10.1016/j.robot.2026.105612 1872-793X https://www.sciencedirect.com/science/article/pii/S0921889026002848?via%3Dihub 1 2f7851d5-7936-11f1-80c7-00155d580e34 https://dk.um.si/Dokument.php?lang=slv&id=207940 1-s2.0-S0921889026002848-main.pdf 1-s2.0-S0921889026002848-main.pdf 1 D0C14F6D970A562D039C8D470533D29C 9c53e603ff1c0c14a9656844382f24b68fcb37dd4f40830d4877bce939dedbe7 a62d79d4-7936-11f1-80c7-00155d580e34 https://dk.um.si/Dokument.php?lang=slv&id=207942 Fakulteta za strojništvo 0 0 0