Path planning for a robotic arm sand-blasting system

Ren, TR; Kwok, NM; Liu, DK; Huang, SD

Path planning for a robotic arm sand-blasting system

Ren, TR Kwok, NM Liu, DK

Huang, SD

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008, 2008, pp. 1067 - 1072
Issue Date:: 2008-10-27

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Field	Value	Language
dc.contributor.author	Ren, TR	en_US
dc.contributor.author	Kwok, NM	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Huang, SD https://orcid.org/0000-0002-6124-4178	en_US
dc.date.issued	2008-10-27	en_US
dc.identifier.citation	Proceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008, 2008, pp. 1067 - 1072	en_US
dc.identifier.isbn	9781424421848	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11161
dc.description.abstract	Steel bridges are vulnerable to corrosion and their surfaces have to be de-rusted and repainted regularly. Since the process is complicated, expensive and the removed paints are harmful to human workers' health; the use of an automatic robotic system would be an attractive alternative. This paper presents an approach for planning paths for a robotic arm used in the sand-blasting operation. A hexagonal topologybased coverage pattern is adopted to reduce the amount of un-blasted areas and an editing process is included to confine the blasted areas within desirable boundaries. Furthermore, a genetic algorithm is employed to obtain an effective path with minimum arm travel distances and magnitude of turns. Collisions to obstacles are alleviated by making use of the force-field strategy. The effectiveness of the proposed methods is verified by simulations based on an industrial robot arm model and a complex bridge environment. © 2008 IEEE.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP0776312
dc.relation.ispartof	Proceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008	en_US
dc.relation.isbasedon	10.1109/ICINFA.2008.4608157	en_US
dc.title	Path planning for a robotic arm sand-blasting system	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
dc.location.activity	Zhangjiajie City, Hunan, China	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

Steel bridges are vulnerable to corrosion and their surfaces have to be de-rusted and repainted regularly. Since the process is complicated, expensive and the removed paints are harmful to human workers' health; the use of an automatic robotic system would be an attractive alternative. This paper presents an approach for planning paths for a robotic arm used in the sand-blasting operation. A hexagonal topologybased coverage pattern is adopted to reduce the amount of un-blasted areas and an editing process is included to confine the blasted areas within desirable boundaries. Furthermore, a genetic algorithm is employed to obtain an effective path with minimum arm travel distances and magnitude of turns. Collisions to obstacles are alleviated by making use of the force-field strategy. The effectiveness of the proposed methods is verified by simulations based on an industrial robot arm model and a complex bridge environment. © 2008 IEEE.

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http://hdl.handle.net/10453/11161