Path Planning for Robot Based Radial Advanced Manufacturing Using Print Space Sampling

Munasinghe, N; Paul, G

Path Planning for Robot Based Radial Advanced Manufacturing Using Print Space Sampling

Munasinghe, N

Paul, G

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Publication Type:: Conference Proceeding
Citation:: 2020
Issue Date:: 2020-12-14

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Field	Value	Language
dc.contributor.author	Munasinghe, N https://orcid.org/0000-0002-2209-7371
dc.contributor.author	Paul, G
dc.date	2020-12-13
dc.date.accessioned	2020-12-14T07:09:59Z
dc.date.available	2020-08-31
dc.date.available	2020-12-14T07:09:59Z
dc.date.issued	2020-12-14
dc.identifier.citation	2020
dc.identifier.uri	http://hdl.handle.net/10453/144685
dc.description.abstract	The world is embracing the fourth industrial revolution, Industry 4.0, which is enabling businesses to improve efficiency and optimise operations. The authors are part of a team that is researching and developing a large-scale industrial 3D printer to print smart, bespoke equipment called Gravity Separation Spirals (GSS). GSS are used in mining to separate minerals from the slurry. The printer under development employs two industrial robot arms mounted on vertical rails and the print direction is around a vertical rotating column in a radial direction. This paper presents a cost-based path planning method using print-space sampling to optimise distance error and manipulability during a printhead’s radial path as it travels outwards from the central column. Manipulability, distance error and rotation error have been calculated for each sampled point and a weighted cost function has been used to determine the optimal path. Simulated results show that this method reduces the instances of print failure and improves the overall manipulability of the robot during printing.
dc.language	en
dc.relation	MINERAL TECHNOLOGIES PTY LTD
dc.relation	MINERAL TECHNOLOGIES PTY LTD
dc.relation	Innovative Manufacturing Cooperative Research Centre
dc.relation.ispartof	International Conference on Control, Automation, Robotics and Vision
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Path Planning for Robot Based Radial Advanced Manufacturing Using Print Space Sampling
dc.type	Conference Proceeding
utslib.location.activity	Shenzhen, China
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney
utslib.copyright.status	open_access	*
pubs.consider-herdc	true
utslib.copyright.embargo	2022-12-15T00:00:00+1000Z
dc.date.updated	2020-12-14T07:09:49Z
pubs.finish-date	2020-12-15
pubs.publication-status	Published
pubs.start-date	2020-12-13

Abstract:

The world is embracing the fourth industrial revolution, Industry 4.0, which is enabling businesses to improve efficiency and optimise operations. The authors are part of a team that is researching and developing a large-scale industrial 3D printer to print smart, bespoke equipment called Gravity Separation Spirals (GSS). GSS are used in mining to separate minerals from the slurry. The printer under development employs two industrial robot arms mounted on vertical rails and the print direction is around a vertical rotating column in a radial direction. This paper presents a cost-based path planning method using print-space sampling to optimise distance error and manipulability during a printhead’s radial path as it travels outwards from the central column. Manipulability, distance error and rotation error have been calculated for each sampled point and a weighted cost function has been used to determine the optimal path. Simulated results show that this method reduces the instances of print failure and improves the overall manipulability of the robot during printing.

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http://hdl.handle.net/10453/144685