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Strategy for robot motion and path planning in robot taping
KTH, School of Industrial Engineering and Management (ITM).
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2016 (English)In: FRONTIERS OF MECHANICAL ENGINEERING, ISSN 2095-0233, Vol. 11, no 2, 195-203 p.Article in journal (Refereed) PublishedText
Abstract [en]

Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end- effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/ extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.

Place, publisher, year, edition, pages
Higher Education Press, 2016. Vol. 11, no 2, 195-203 p.
Keyword [en]
robot taping, path planning, robot manipulation, 3D scanning
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-190570DOI: 10.1007/s11465-016-0390-1ISI: 000379856100009OAI: oai:DiVA.org:kth-190570DiVA: diva2:953897
Note

QC 20160819

Available from: 2016-08-19 Created: 2016-08-12 Last updated: 2016-08-19Bibliographically approved

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Landén, Simon NelsonMalmgren, Victor
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School of Industrial Engineering and Management (ITM)
Computer Vision and Robotics (Autonomous Systems)

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