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Intelligent Surface Finishing Using Compliant Robots

Schneyer, Stefan (2022) Intelligent Surface Finishing Using Compliant Robots. Master's, TU München.

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Surface finishing tasks such as grinding or sanding are tedious tasks for highly skilled craftsmen and involve health risks for humans. The automation of the process by a robot can make a major contribution and also offers economic advantages. It is challenging, however, to deal with complex geometries: due to high curvatures, different areas of the surface cannot be optimally reached by a simple strategy using a tool with relatively large and flat finishing disk. In this thesis, intelligent planning and execution methods are investigated. The approach was evaluated by a practical experiment on the DLR SARA robot and in simulation. High coverage was achieved for a complex freeform geometry.

Item URL in elib:https://elib.dlr.de/192577/
Document Type:Thesis (Master's)
Title:Intelligent Surface Finishing Using Compliant Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schneyer, StefanUNSPECIFIEDhttps://orcid.org/0009-0004-5421-9988UNSPECIFIED
Date:15 December 2022
Refereed publication:No
Open Access:No
Keywords:Robotics, Surface Finishing, Path Planning, Trajectory Planning, Force Control, Surface Segmantation, Coverage Planning
Institution:TU München
Department:School of Computation, Information and Technology - Informatics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Project Factory of the Future
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Nottensteiner, Korbinian
Deposited On:19 Dec 2022 07:38
Last Modified:29 Mar 2023 00:03

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