Algorithmic Foundations of Robotics VI by Bruce Randall Donald (auth.), Michael Erdmann, Mark

By Bruce Randall Donald (auth.), Michael Erdmann, Mark Overmars, David Hsu, Frank van der Stappen (eds.)

Robot algorithms are abstractions of computational procedures that keep an eye on or cause approximately movement and belief within the actual international. simply because activities within the actual international are topic to actual legislation and geometric constraints, the layout and research of robotic algorithms increases a distinct mixture of questions up to speed thought, computational and differential geometry, and machine technological know-how. Algorithms function a unifying subject within the multi-disciplinary box of robotics.

This quantity includes chosen contributions to the 6th Workshop at the Algorithmic Foundations of Robotics. it is a hugely aggressive assembly of specialists within the box of algorithmic concerns on the topic of robotics and automation.

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Without loss of generality, we assume that the 0th sub-offset curve is along the spray gun pass. The equality constraint D0 T = K0 enforces that all speed profiles yield approximately the same average paint deposition on the surface. , equality and non-equality) that are linear in T. This quadratic constrained optimization can be solved using standard optimization techniques with superlinear convergence. Note that a fine path resolution {si } is necessary for accurate uniformity estimation, but results in long running times due to large number of inequality constraints.

Ron Mata and Mr. Dale Smith from the ABB for the help provided in carrying out the experiments at the ABB facility in Auburn Hills, Michigan, USA. References 1. Suk-Hwan Suh, In-Kee Woo, and Sung-Kee Noh. Development of An Automated Trajectory Planning System (ATPS) for Spray Painting Robots. In IEEE Int’l. Conf. on Robotics and Automation, pages 1948–55, Sacremento, California, USA, April 1991. 2. M. A. Sahir and Tuna Balkan. Process Modeling, Simulation, and Paint Thickness Measurement for Robotic Spray Painting.

Table 1. 88 % Approx. 88 % - The experimental data on the Ford Excursion door, however, shows that the speed optimized trajectory yields only a small improvement in the paint deposition uniformity over constant speed trajectory. Note that the speed optimization algorithm inherently relies on simulation of paint deposition to evaluate the objective function for a given speed profile. If there is a significant difference between simulated deposition and the experimental deposition, just as we observed, the effectiveness of speed optimization diminishes for the real-world application.

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