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 language | English |
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Title of host publication | 11th IEEE International Conferences on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS’2021) |
Publisher | IEEE |
Pages | 572-579 |
Number of pages | 8 |
Volume | 1 |
ISBN (Electronic) | 9781665426053 |
ISBN (Print) | 9781665442091 |
DOIs | |
Publication status | Published - 5 Jan 2022 |
Event | 11th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications - Online Duration: 22 Sept 2021 → 25 Sept 2021 https://www.idaacs.net/2021 (Link to conference website) |
Publication series
Name | |
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ISSN (Print) | 2770-4262 |
ISSN (Electronic) | 2770-4254 |
Conference
Conference | 11th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications |
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Abbreviated title | IDAACS 2021 |
Period | 22/09/21 → 25/09/21 |
Internet address |
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Keywords
- industrial robot-manipulator
- 3D scanning
- automatic path planning
- automatic robot - manipulator program generation
ASJC Scopus subject areas
- Information Systems and Management
- Artificial Intelligence
- Control and Optimization
- Information Systems
- Instrumentation
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Modelling and Simulation