An integrated approach to planning for autonomous grit-blasting robot in complex bridge environments

To, AW; Paul, G; Kwok, N; Liu, D

An integrated approach to planning for autonomous grit-blasting robot in complex bridge environments

To, AW Paul, G

Kwok, N Liu, D

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Publisher:: Whittles Publishing
Publication Type:: Conference Proceeding
Citation:: Proceedings of 2008 Fourth I*PROMS Virtual Conference International Conference on Innovative Production Machines and Systems, 2009, pp. 313 - 318
Issue Date:: 2009-01

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Field	Value	Language
dc.contributor.author	To, AW	en_US
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.author	Kwok, N	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.editor	Pham, DT	en_US
dc.contributor.editor	Eldukhri, EE	en_US
dc.contributor.editor	Soroka, AJ	en_US
dc.date	2008-07-01	en_US
dc.date.issued	2009-01	en_US
dc.identifier.citation	Proceedings of 2008 Fourth I*PROMS Virtual Conference International Conference on Innovative Production Machines and Systems, 2009, pp. 313 - 318	en_US
dc.identifier.isbn	978-1904445-81-4	en_US
dc.identifier.uri	http://hdl.handle.net/10453/17412
dc.description.abstract	This paper describes an integrated approach to robot manipulator path and motion planning in complex bridge environments. It incorporates grit-blasting specific considerations including blasting effect, coverage, path length and robot arm joint movement. A genetic algorithm is implemented for path planning with the use of environment data to increase planning efficiency. A customized gradient based method is applied in selecting collision free joint configurations for the identified path. A grit-blast coverage model is also developed for discrete non-planar 3D coverage determination to verify the performance of the planned path and motion.	en_US
dc.publisher	Whittles Publishing	en_US
dc.relation.ispartof	Proceedings of 2008 Fourth I*PROMS Virtual Conference International Conference on Innovative Production Machines and Systems	en_US
dc.relation.ispartof	International Conference on Innovative Production Machines and Systems	en_US
dc.title	An integrated approach to planning for autonomous grit-blasting robot in complex bridge environments	en_US
dc.type	Conference Proceeding
utslib.location	Scotland, UK	en_US
utslib.location.activity	Cardiff University, Wales, UK	en_US
utslib.for	0910 Manufacturing Engineering	en_US
dc.location.activity	Cardiff University, Wales, UK	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.consider-herdc	false	en_US
pubs.place-of-publication	Scotland, UK	en_US
pubs.start-date	2008-07-01	en_US

Abstract:

This paper describes an integrated approach to robot manipulator path and motion planning in complex bridge environments. It incorporates grit-blasting specific considerations including blasting effect, coverage, path length and robot arm joint movement. A genetic algorithm is implemented for path planning with the use of environment data to increase planning efficiency. A customized gradient based method is applied in selecting collision free joint configurations for the identified path. A grit-blast coverage model is also developed for discrete non-planar 3D coverage determination to verify the performance of the planned path and motion.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/17412