Development of an Autonomous Sanding Robot with Structured-Light Technology
| Autor: | Peng Li, Yun-Hui Liu, Xiang Li, Yingxin Huo, Diancheng Chen |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science Systems and Control (eess.SY) 02 engineering and technology Degrees of freedom (mechanics) GeneralLiterature_MISCELLANEOUS law.invention Computer Science - Robotics 020901 industrial engineering & automation law FOS: Electrical engineering electronic engineering information engineering 0202 electrical engineering electronic engineering information engineering ComputingMethodologies_COMPUTERGRAPHICS business.industry 020208 electrical & electronic engineering Robotics Control engineering Object (computer science) Robot end effector Automation Task (computing) Computer Science - Systems and Control Robot Artificial intelligence business Robotics (cs.RO) Structured light |
| Zdroj: | IROS |
| DOI: | 10.1109/iros40897.2019.8968067 |
| Popis: | Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been developed to automate one or two steps in the sanding works, the autonomous capability of existing solutions is relatively low, and the human assistance or supervision is still heavily required in the calibration of target objects or the planning of robot motion and tasks. This paper presents the development of an autonomous sanding robot, which is able to perform the sanding works on an unknown object automatically, without any prior calibration or human intervention. The developed robot works as follows. First, the target object is scanned then modeled with the structured-light camera. Second, the robot motion is planned to cover all the surfaces of the object with an optimized transition sequence. Third, the robot is controlled to perform the sanding on the object under the desired impedance model. A prototype of the sanding robot is fabricated and its performance is validated in the task of sanding a batch of wooden boxes. With sufficient degrees of freedom (DOFs) and the module design for the end effector, the developed robot is able to provide a general solution to the autonomous sanding on many other different objects. 7 pages, 11 figures, IEEE/RSJ International Conference on Intelligent Robots and Systems 2019 |
| Databáze: | OpenAIRE |
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