{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T09:27:49Z","timestamp":1763458069227,"version":"3.41.2"},"reference-count":22,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2021,12,20]],"date-time":"2021-12-20T00:00:00Z","timestamp":1639958400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2022,6,1]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Nuclear waste tanks need to be cut into pieces before they can be safely disposed of, but the cutting process produces a large amount of aerosols with radiation, which is very harmful to the health of the operator. The purpose of this paper is to establish an intelligent strategy for an integrated robot designed for measurement and cutting, which can accurately identify and cut unknown nuclear waste tanks and realize autonomous precise processing.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A robot system integrating point cloud measurement and plasma cutting is designed in this paper. First, accurate calibration methods for the robot, tool and hand-eye system are established. Second, for eliminating the extremely scattered point cloud caused by metal surface refraction, an omnidirectional octree data structure with 26 vectors is proposed to extract the point cloud model more accurately. Then, a minimum bounding box is calculated for limiting the local area to be cut, the local three-dimensional shape of the nuclear tank is fitted within the bounding box, in which the cutting trajectories and normal vectors are planned accurately.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The cutting precision is verified by changing the tool into a dial indicator in the simulation and the experiment process. The octree data structure with omnidirectional pointing vectors can effectively improve the filtering accuracy of the scattered point cloud. The point cloud filter algorithm combined with the structure calibration methods for the integrated measurement and processing system can ensure the final machining accuracy of the robot.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>Aiming at the problems of large measurement noise interference, complex transformations between coordinate systems and difficult accuracy guarantee, this paper proposes structure calibration, point cloud filtering and point cloud-based planning algorithm, which can greatly improve the reliability and accuracy of the system. Simulation and experiment verify the final cutting accuracy of the whole system.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-07-2021-0142","type":"journal-article","created":{"date-parts":[[2021,12,16]],"date-time":"2021-12-16T11:07:18Z","timestamp":1639652838000},"page":"696-707","source":"Crossref","is-referenced-by-count":3,"title":["Research on the integrated manipulator of point cloud measurement and precise cutting for waste nuclear tank"],"prefix":"10.1108","volume":"49","author":[{"given":"Ruolong","family":"Qi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenfeng","family":"Liang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2021,12,20]]},"reference":[{"issue":"8","key":"key2022053115392190100_ref001","doi-asserted-by":"crossref","first-page":"1244","DOI":"10.1017\/S0263574718000280","article-title":"An improved kinematic calibration method for serial manipulators based on POE formula","volume":"36","year":"2018","journal-title":"Robotica"},{"issue":"1","key":"key2022053115392190100_ref002","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1097\/SCS.0000000000003283","article-title":"A surface-based spatial registration method based on sense three-dimensional scanner","volume":"28","year":"2017","journal-title":"Journal of Craniofacial Surgery"},{"key":"key2022053115392190100_ref003","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1016\/j.rcim.2017.05.004","article-title":"Robot calibration using a portable photo grammetry system","volume":"49","year":"2018","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"10","key":"key2022053115392190100_ref004","doi-asserted-by":"crossref","first-page":"3380","DOI":"10.3390\/s18103380","article-title":"Self-calibration of an industrial robot using a novel affordable 3D measuring device","volume":"18","year":"2018","journal-title":"Sensors"},{"key":"key2022053115392190100_ref005","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1016\/j.rcim.2018.12.011","article-title":"A novel haptic interface and universal control strategy for international thermonuclear experimental reactor (ITER) welding\/machining assembly robot","volume":"57","year":"2019","journal-title":"Robotics and Computer Integrated Manufacturing"},{"issue":"4","key":"key2022053115392190100_ref006","first-page":"1","article-title":"Hand\u2013eye calibration algorithm based on an optimized neural network","volume":"10","year":"2021","journal-title":"Actuators"},{"issue":"12","key":"key2022053115392190100_ref007","doi-asserted-by":"crossref","first-page":"2087","DOI":"10.1093\/ietisy\/e90-d.12.2087","article-title":"A modified soft-shape-context ICP registration system of 3-D point data","volume":"E90-D","year":"2007","journal-title":"IEICE Transactions on Information and Systems"},{"key":"key2022053115392190100_ref008","doi-asserted-by":"crossref","first-page":"102136","DOI":"10.1016\/j.rcim.2021.102136","article-title":"A robot hand-eye calibration method of line laser sensor based on 3D reconstruction","volume":"71","year":"2021","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2022053115392190100_ref009","first-page":"1","article-title":"Accuracy improvement calibrations for the double-position 4-PPPS aircraft docking system","volume":"2020","year":"2020","journal-title":"Mathematical Problems in Engineering"},{"issue":"2","key":"key2022053115392190100_ref010","doi-asserted-by":"crossref","first-page":"300","DOI":"10.1108\/IR-03-2020-0057","article-title":"On-line self-calibration method for unattended manipulators based on Gaussian motion model and visual system","volume":"48","year":"2021","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"5","key":"key2022053115392190100_ref011","doi-asserted-by":"crossref","first-page":"658","DOI":"10.1108\/IR-11-2016-0279","article-title":"Trajectory evaluation for manipulators with motion and sensor uncertainties","volume":"44","year":"2017","journal-title":"Industrial Robot: An International Journal"},{"key":"key2022053115392190100_ref012","doi-asserted-by":"crossref","first-page":"104726","DOI":"10.1016\/j.conengprac.2021.104726","article-title":"A fast and accurate new algorithm for hand\u2013eye calibration on so(3)\u00d7R3","volume":"109","year":"2021","journal-title":"Control Engineering Practice"},{"issue":"11","key":"key2022053115392190100_ref013","doi-asserted-by":"crossref","first-page":"114204","DOI":"10.1117\/1.OE.51.11.114204","article-title":"Calibration technology in application of robot-laser scanning system","volume":"51","year":"2012","journal-title":"Optical Engineering"},{"key":"key2022053115392190100_ref015","doi-asserted-by":"crossref","first-page":"14","DOI":"10.1016\/j.cad.2017.04.003","article-title":"A unified method of generating tool path based on multiple vector fields for CNC machining of compound NURBS surfaces","volume":"91","year":"2017","journal-title":"Computer-Aided Design"},{"key":"key2022053115392190100_ref016","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1016\/j.rcim.2016.02.008","article-title":"Kinematic calibration of a 3-DOF rotational parallel manipulator using laser tracker","volume":"41","year":"2016","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"7","key":"key2022053115392190100_ref014","doi-asserted-by":"crossref","first-page":"1067","DOI":"10.1007\/s11431-018-9404-9","article-title":"Jerk-limited feedrate scheduling and optimization for five-axis machining using new piecewise linear programming approach","volume":"62","year":"2019","journal-title":"Science China Technological Sciences"},{"issue":"3","key":"key2022053115392190100_ref018","doi-asserted-by":"crossref","first-page":"1333","DOI":"10.1007\/s12206-019-0233-1","article-title":"An evaluation methodology for 3D deep neural networks using visualization in 3D data classification","volume":"33","year":"2019","journal-title":"Journal of Mechanical Science and Technology"},{"issue":"22","key":"key2022053115392190100_ref017","first-page":"4099","article-title":"Research on a thin-walled part manufacturing method based on information-localizing technology","volume":"231","year":"2017","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"},{"key":"key2022053115392190100_ref019","doi-asserted-by":"crossref","first-page":"293","DOI":"10.1016\/j.ijmecsci.2019.04.038","article-title":"Kinematics performance oriented smoothing method to plan tool orientations for 5-axis ball-end CNC machining","volume":"157\/158","year":"2019","journal-title":"International Journal of Mechanical Sciences"},{"issue":"6","key":"key2022053115392190100_ref020","doi-asserted-by":"crossref","first-page":"1466","DOI":"10.1166\/jmihi.2020.3071","article-title":"A novel surface registration for image-guided neurosurgery: effects of intervals of points in patient space on registration accuracy","volume":"10","year":"2020","journal-title":"Journal of Medical Imaging and Health Informatics"},{"issue":"6","key":"key2022053115392190100_ref021","doi-asserted-by":"crossref","first-page":"2667","DOI":"10.1007\/s12206-020-0540-6","article-title":"Acquisition of point cloud in CT image space to improve accuracy of surface registration: application to neurosurgical navigation system","volume":"34","year":"2020","journal-title":"Journal of Mechanical Science and Technology"},{"issue":"20","key":"key2022053115392190100_ref022","doi-asserted-by":"crossref","first-page":"5375","DOI":"10.1364\/AO.58.005375","article-title":"Calibration method for hand-eye system with rotation and translation couplings","volume":"58","year":"2019","journal-title":"Applied Optics"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-07-2021-0142\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-07-2021-0142\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:33Z","timestamp":1753393173000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/49\/4\/696-707\/432177"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,12,20]]},"references-count":22,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2021,12,20]]},"published-print":{"date-parts":[[2022,6,1]]}},"alternative-id":["10.1108\/IR-07-2021-0142"],"URL":"https:\/\/doi.org\/10.1108\/ir-07-2021-0142","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2021,12,20]]}}}