Development of an intelligent robotic system for plasma processing of industrial products with complex shape

Assel Kussaiyn-Murat, Alexander Krasavin*, Darya Alontseva, Albina Kadyroldina, Alexandr Khozhanov, Iurii Krak, Patricia Munoz de Escalona, Irina Dyomina

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

The paper presents new results of automated path planning for an industrial robot manipulator performing microplasma spraying of coatings on substrates with complex surface shapes. Path planning and automatic generation of the manipulator motion program are performed using data of a preliminary 3D surface scanning by a laser triangulation distance sensor installed on the same robot arm. The automatic manipulator working tool path planning algorithm is based on the choice of the starting segment of the working tool trace as a geodetic line on the surface. An algorithm for optimal spatial curve approximation by a sequence of line segments and arcs has been developed as a part of the automatic manipulator program generation system. The developed algorithms and their software implementation were experimentally tested through robotic microplasma spraying of a protective coating on the surface of a jaw crusher plate, which was then successfully operated for crushing mineral raw materials.
Original languageEnglish
Title of host publication11th IEEE International Conferences on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS’2021)
PublisherIEEE
Pages572-579
Number of pages8
Volume1
ISBN (Electronic)9781665426053
ISBN (Print)9781665442091
DOIs
Publication statusPublished - 5 Jan 2022
Event11th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications - Online
Duration: 22 Sep 202125 Sep 2021
https://www.idaacs.net/2021 (Link to conference website)

Publication series

Name
ISSN (Print)2770-4262
ISSN (Electronic)2770-4254

Conference

Conference11th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications
Abbreviated titleIDAACS 2021
Period22/09/2125/09/21
Internet address

Keywords

  • industrial robot-manipulator
  • 3D scanning
  • automatic path planning
  • automatic robot - manipulator program generation

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