Name
Abstract | ||
|---|---|---|
Today industrial automation of spray painting is limited to high part volumes and robot trajectories that are programmed by off-line programming and manual teach-in. This paper presents an approach that uses range image data to obtain the geometry of an un- known part and to automatically generate the robot spray painting trajectories. Laser strip range sensors are installed in front of the paint booth to acquire a range image of the part. Utilizing process knowledge (a geometric library containing constraints specific for the painting application) geometric primitives are de- tected in the range data. From the geometric primi- tives a normal vector field is generated that enables to extract main faces. The main faces are located in 3D space and the process knowledge related to each geo- metric primitive is utilized to obtain the trajectory for the paint gun. Results of painting a car mirror and a stearing column are given. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/ROBOT.2002.1013400 | Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference |
Keywords | DocType | Volume |
computational geometry,industrial robots,laser ranging,path planning,robot programming,spray coating techniques,automatic spray painting,geometric primitives,laser strip range sensors,paint path generation,range image,vector field | Conference | 1 |
Issue | Citations | PageRank |
1 | 15 | 1.32 |
References | Authors | |
8 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Pichler, A. | 1 | 15 | 1.32 |
| Markus Vincze | 2 | 1343 | 136.87 |
| H. J. Andersen | 3 | 22 | 3.07 |
| Madsen, O. | 4 | 15 | 1.32 |