NDLI: Automatic robot taping: Auto-path planning and manipulation

Content Provider	IEEE Xplore Digital Library
Author	Qilong Yuan Lembono, T.S. Yuhua Zou I-Ming Chen
Copyright Year	2015
Description	Author affiliation: Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore, Singapore (Qilong Yuan; Lembono, T.S.; Yuhua Zou; I-Ming Chen)
Abstract	Many industrial applications, such as painting, plasma spraying, require people to work long hours to cover the uninvolved part with masking tapes. In this paper, we introduce an automatic robot taping system which can reconstruct the 3D model of the taping part, do path planning and complete the surface covering of the parts using masking tapes automatically. The system uses a Kinect as the 3D scanner to acquire the 3D point clouds of the taping part. Based on the digital 3D points cloud model of the part, we introduces a path planning method to generate the moving path of the systems. A rotary platform and a 6-DOF robot arm collaborate together to execute the robot taping process. For continuous taping, the system and method can handle Tubular shapes. Experiment of taping a cylindroid shape is conducted to validate the system and method. For parts with more complex geometry, further development on the automatic initial tape attaching and cutting mechanism is needed. With such system, the taping work can be much less troublesome. Also, the path planning method applies to applications such as drawing or writing on different surfaces etc. as well.
Starting Page	175
Ending Page	180
File Size	2931879
Page Count	6
File Format	PDF
ISBN	9781467373371
ISSN	23268239
e-ISBN	9781467373388
DOI	10.1109/ICCIS.2015.7274616
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-15
Publisher Place	Cambodia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Path planning Solid modeling Service robots Surface treatment Shape
Content Type	Text
Resource Type	Article

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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
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