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Set-Based Control for Autonomous Spray Painting

Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad
Journal article, Peer reviewed
Accepted version
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URI
http://hdl.handle.net/11250/2590433
Date
2018
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  • Institutt for teknisk kybernetikk [2240]
  • Publikasjoner fra CRIStin - NTNU [20842]
Original version
10.1109/TASE.2018.2801382
Abstract
In this paper, a method is presented for lowering the energy consumption and/or increasing the speed of a standard manipulator spray painting a surface. The approach is based on the observation that a small angle between the spray direction and the surface normal does not affect the quality of the paint job. Recent results in set-based kinematic control are utilized to develop a switched control system, where this angle is defined as a set-based task with a maximum allowed limit. Four different set-based methods are implemented and tested on a UR5 manipulator from Universal Robots. Experimental results verify the correctness of the method, and demonstrate that the set-based approaches can substantially lower the paint time and energy consumption compared to the current standard solution.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Journal
IEEE Transactions on Automation Science and Engineering

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