Constraint path planning for an autonomous wall spray coating robot

Ganggang Yang, Chen Hu, Hao Meng, Shih Yuan Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The wall spray coating task requires robot to handle a spray-head to cover the whole interior wall surface. In this paper a manipulator is used to complete such task where a Cartesian constraint path is firstly generated by breadth first search (BFS) based on the boustrophedon decomposition, and then the Cartesian path will be converted to joint sequences. In addition, corners formed by two walls as the non-differentiable area are analyzed and fitted by Bezier curve. Finally, a sphere cap constraint planner is proposed to deal with wall suspended with multiple aligned pipelines. A 6DOF KUKA robot arm was employed to do the spray coating task in a building, and the experiments will demonstrate the effectiveness and efficiency of the proposed approach.

Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2977-2983
Number of pages7
ISBN (Electronic)9781728163215
DOIs
StatePublished - Dec 2019
Event2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China
Duration: 6 Dec 20198 Dec 2019

Publication series

NameIEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
CountryChina
CityDali
Period6/12/198/12/19

Keywords

  • Path planning
  • Sphere cap constraint
  • Spray coating

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