基于结构光技术的自主打磨机器人开发
Development of an Autonomous Sanding Robot with Structured-Light Technology
AI总结：
本文提出了一种能够自主完成未知物体打磨工作的机器人，通过结构光相机扫描建模、优化运动规划和阻抗模型控制，实现了无需人工干预的自主打磨。
摘要：
机器人和自动化的大需求在打磨工作中得到了体现，因为当前的手动操作是劳动密集型的，缺乏一致的质量，且存在安全和健康问题。虽然已经开发出几种自动化打磨工作的机器，但现有解决方案的自主能力相对较低，仍需要大量的人工协助或监督来校准目标物体或规划机器人运动和任务。本文提出了一种自主打磨机器人，能够自动对未知物体进行打磨，无需任何先前的校准或人工干预。该机器人工作流程如下：首先，使用结构光相机扫描并建模目标物体。其次，规划机器人运动以覆盖物体的所有表面，采用优化的过渡序列。第三，控制机器人在期望的阻抗模型下对物体进行打磨。制造了一个打磨机器人的原型，并在打磨一批木箱的任务中验证了其性能。凭借足够的自由度（DOFs）和末端执行器的模块化设计，该机器人能够为许多其他不同物体的自主打磨提供通用解决方案。
英文摘要：
Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been developed to automate one or two steps in the sanding works, the autonomous capability of existing solutions is relatively low, and the human assistance or supervision is still heavily required in the calibration of target objects or the planning of robot motion and tasks. This paper presents the development of an autonomous sanding robot, which is able to perform the sanding works on an unknown object automatically, without any prior calibration or human intervention. The developed robot works as follows. First, the target object is scanned then modeled with the structured-light camera. Second, the robot motion is planned to cover all the surfaces of the object with an optimized transition sequence. Third, the robot is controlled to perform the sanding on the object under the desired impedance model. A prototype of the sanding robot is fabricated and its performance is validated in the task of sanding a batch of wooden boxes. With sufficient degrees of freedom (DOFs) and the module design for the end effector, the developed robot is able to provide a general solution to the autonomous sanding on many other different objects.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
