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Advisor(s)
Abstract(s)
The lack of general robotics purposed, accurate open source simulators is a major setback that limits the optimized trajectory generation research and general evolution of the robotics field. Spray painting is a particular case that has multiple advantages in using a simulator for exploring new algorithms, mainly the waste of materials and the dangers associated with a robotic manipulator. This paper demonstrates an implementation of spray painting on a previously existing simulator, SimTwo. Several metrics for optimization that evaluate the painted result are also proposed. In order to validate the implementation, we conducted a real world experiment that serves both as proof that the chosen spray distribution model translates to reality and as a way to calibrate the model parameters.
Description
Keywords
Spray painting Simulator Trajectory validation
Citation
Casanova, João; Lima, José; Costa, Paulo (2021). A simulation tool for optimizing a 3D spray painting system. In 2nd International Conference on Optimization, Learning Algorithms and Applications, OL2A 2022. Bragança. 1488, p. 110 - 122
Publisher
Springer