Path Planning for a Robotic Arm Sand-blasting System

摘要：

-Steel bridges are vulnerable to corrosion and their surfaces have to be de-rusted and repainted regularly.Since the process is complicated,expensive and the removed paints are harmful to human workers health;the use of an automatic robotic system would be an attractive alternative.This paper presents an approach for planning paths for a robotic arm used in the sand-blasting operation.A hexagonal topology- based coverage pattern is adopted to reduce the amount of un-blasted areas and an editing process is included to con .ne the blasted areas within desirable boundaries.Furthermore, a genetic algorithm is employed to obtain an effective path with minimum arm travel distances and magnitude of turns. Collisions to obstacles are alleviated by making use of the force-.eld strategy.The effectiveness of the proposed methods is veri .ed by simulations based on an industrial robot arm model and a complex bridge environment.

关键词： path planning sand-blasting genetic algo- rithm.

作者: T.R.Ren N.M.Kwok D.K.Liu S.D.Huang

作者单位: ARC Centre of Excellence for Autonomous Systems Faculty of Engineering University of Technology Sydney Broadway,NSW 2007,Australia

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 1067-1072

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）