Constraint path planning for an autonomous wall spray coating robot

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

研究成果: Conference contribution同行評審

摘要

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.

原文English
主出版物標題IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面2977-2983
頁數7
ISBN(電子)9781728163215
DOIs
出版狀態Published - 十二月 2019
事件2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China
持續時間: 6 十二月 20198 十二月 2019

出版系列

名字IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
國家China
城市Dali
期間6/12/198/12/19

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