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Segmentation and Coverage Planning of Freeform Geometries for Robotic Surface Finishing

Schneyer, Stefan and Sachtler, Arne and Eiband, Thomas and Nottensteiner, Korbinian (2023) Segmentation and Coverage Planning of Freeform Geometries for Robotic Surface Finishing. IEEE Robotics and Automation Letters, 8 (8), pp. 5267-5274. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3293309. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/10175386


Surface finishing such as grinding or polishing is a time-consuming task, involves health risks for humans and is still largely performed by hand. Due to the high curvatures of complex geometries, different areas of the surface cannot be optimally reached by a simple strategy using a tool with a relatively large and flat finishing disk. In this paper, a planning method is presented that uses a variable contact point on the finishing disk as an additional degree of freedom. Different strategies for covering the workpiece surface are used to optimize the surface finishing process and ensure the coverage of concave areas. Therefore, an automatic segmentation method is developed to find areas with a uniform machining strategy based on the exact tool and workpiece geometry. Further, a method for planning coverage paths is presented, in which the contact area is modeled to realize an adaptive spacing between path lines. The approach was evaluated in simulation and practical experiments on the DLR SARA robot. The results show high coverage for complex freeform geometry and that adaptive spacing can optimize the overall process by reducing uncovered gaps and overlaps between coverage lines.

Item URL in elib:https://elib.dlr.de/196051/
Document Type:Article
Title:Segmentation and Coverage Planning of Freeform Geometries for Robotic Surface Finishing
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schneyer, StefanUNSPECIFIEDhttps://orcid.org/0009-0004-5421-9988UNSPECIFIED
Sachtler, ArneUNSPECIFIEDhttps://orcid.org/0000-0003-4974-4134UNSPECIFIED
Eiband, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-1074-9504UNSPECIFIED
Nottensteiner, KorbinianUNSPECIFIEDhttps://orcid.org/0000-0002-6016-6235UNSPECIFIED
Date:7 July 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 5267-5274
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Robotics, Surface Finishing, Path Planning, Trajectory Planning, Surface Segmantation, Coverage Planning
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Synergy project Factory of the Future Extended
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Schneyer, Stefan
Deposited On:18 Jul 2023 09:04
Last Modified:18 Jul 2023 09:04

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