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Title: Automatic Robot Taping: System Integration
Authors: Lembono, Teguh Santoso
Yuan, Qilong
Zou, Yuhua
Chen, I-Ming
Keywords: Mechanical and Aerospace Engineering
Issue Date: 2015
Source: Lembono, T. S., Yuan, Q., Zou, Y., & Chen, I.-M. (2015). Automatic Robot Taping: System Integration, 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), July 7-11, Busan, Korea.
Abstract: Industrial robot arm has been used in a lot of applications, but most of them require manual teaching from the operator, or careful path-planning by experienced programmer. Offline programming is one of the solution for more sophisticated applications, but the 3D model of the workpiece should be provided, especially for applications such as painting, thermal spraying, etc. With the increasing availability of 3D scanner and cheap RGB-D camera such as Kinect (with its 3D model generation algorithm, Kinect Fusion), the 3D model of the object can be generated with lesser effort. This paper discusses the integration of scanning, path planning, and control of robot to achieve a complicated task: Automated Robot Taping. Kinect and 3D scanner Artec Eva were used to generate the 3D model, and a taping tool (attached to an industrial robot arm) was designed and manufactured. Based on the 3D model, a path planning algorithm was developed to generate the robot trajectory. To validate the system, some experiments have been conducted, and the automatic taping has been successfully done on the actual object. The application that is considered here is automatic taping, where a workpiece surface is to be covered by a masking tape, to be protected during plasma spraying. The overal framework, however, can be used for other applications such as painting, thermal spraying, etc.
DOI: 10.1109/AIM.2015.7222633
Rights: © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [].
Fulltext Permission: open
Fulltext Availability: With Fulltext
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