NDLI: Automatic robot taping: system integration

Content Provider	IEEE Xplore Digital Library
Author	Lembono, T.S. Qilong Yuan Yuhua Zou I-Ming Chen
Copyright Year	2015
Description	Author affiliation: Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore, Singapore (Lembono, T.S.; Qilong Yuan; Yuhua Zou; I-Ming Chen)
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.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	784
Ending Page	789
File Size	583993
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222633
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Path planning Solid modeling Service robots Robot kinematics Cameras
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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