dc.contributor.author | Moe, Signe | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.date.accessioned | 2019-03-18T10:09:06Z | |
dc.date.available | 2019-03-18T10:09:06Z | |
dc.date.created | 2018-11-20T15:27:08Z | |
dc.date.issued | 2018 | |
dc.identifier.issn | 1545-5955 | |
dc.identifier.uri | http://hdl.handle.net/11250/2590433 | |
dc.description.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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.title | Set-Based Control for Autonomous Spray Painting | nb_NO |
dc.title.alternative | Set-Based Control for Autonomous Spray Painting | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.volume | 15 | nb_NO |
dc.source.journal | IEEE Transactions on Automation Science and Engineering | nb_NO |
dc.source.issue | 4 | nb_NO |
dc.identifier.doi | 10.1109/TASE.2018.2801382 | |
dc.identifier.cristin | 1632786 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.relation.project | Norges forskningsråd: 237900 | nb_NO |
dc.description.localcode | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |