arXiv Open Access 2024

RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots

Benjamin Alt Florian Stöckl Silvan Müller Christopher Braun Julian Raible +8 lainnya

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Abstrak

Surface treatment tasks such as grinding, sanding or polishing are a vital step of the value chain in many industries, but are notoriously challenging to automate. We present RoboGrind, an integrated system for the intuitive, interactive automation of surface treatment tasks with industrial robots. It combines a sophisticated 3D perception pipeline for surface scanning and automatic defect identification, an interactive voice-controlled wizard system for the AI-assisted bootstrapping and parameterization of robot programs, and an automatic planning and execution pipeline for force-controlled robotic surface treatment. RoboGrind is evaluated both under laboratory and real-world conditions in the context of refabricating fiberglass wind turbine blades.

Topik & Kata Kunci

cs.RO cs.AI

Penulis (13)

Benjamin Alt

Florian Stöckl

Silvan Müller

Christopher Braun

Julian Raible

Saad Alhasan

Oliver Rettig

Lukas Ringle

Darko Katic

Rainer Jäkel

Michael Beetz

Marcus Strand

Marco F. Huber

Format Sitasi

APA MLA BibTeX

Alt, B., Stöckl, F., Müller, S., Braun, C., Raible, J., Alhasan, S. et al. (2024). RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots. https://arxiv.org/abs/2402.16542

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Informasi Jurnal

Tahun Terbit: 2024
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓