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

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