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Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints

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Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints

dc.contributor.author	García Fernández, Alberto
dc.contributor.author	Gracia Calandín, Luis
dc.contributor.author	Solanes, Juan Ernesto
dc.contributor.author	Girbés, Vicent
dc.contributor.author	Pérez Vidal, Carlos
dc.contributor.author	Tornero, Josep
dc.date.accessioned	2021-05-31T16:24:20Z
dc.date.available	2021-05-31T16:24:20Z
dc.date.issued	2021
dc.identifier.citation	García Fernández, Alberto Gracia Calandín, Luis Solanes, Juan Ernesto Girbés, Vicent Pérez Vidal, Carlos Tornero, Josep 2021 Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints Computers & Industrial Engineering 158 107366 1 16
dc.identifier.uri	https://hdl.handle.net/10550/79508
dc.description.abstract	Surface treatment operations, such as sanding, deburring, finishing, grinding, polishing, etc. are progressively becoming more automated using robotic systems. However, previous research in this field used a completely automatic operation of the robot system or considered a low degree of human-robot interaction. Therefore, to overcome this issue, this work develops a truly synergistic cooperation between the human operator and the robot system to get the best from both. In particular, in the application developed in this work the human operator provides flexibility, guiding the tool of the robot system to treat arbitrary regions of the workpiece surface; while the robot system provides strength, accuracy and security, not only holding the tool and keeping the right tool orientation, but also guaranteeing a smooth approach to the workpiece and confining the tool within the allowed area close to the workpiece. Moreover, to add more flexibility to the proposed method, when the user is not guiding the robot tool, a robot automatic operation is activated to perform the treatment in prior established regions. Furthermore, a camera network is used to get a global view of the robot workspace in order to obtain the workpiece location accurately and in real-time. The effectiveness of the proposed approach is shown with several experiments using a 6R robotic arm.
dc.language.iso	eng
dc.relation.ispartof	Computers & Industrial Engineering, 2021, vol. 158, num. 107366, p. 1-16
dc.subject	Robots
dc.subject	Enginyeria de sistemes
dc.title	Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints
dc.type	journal article	es_ES
dc.date.updated	2021-05-31T16:24:21Z
dc.identifier.doi	10.1016/j.cie.2021.107366
dc.identifier.idgrec	147144
dc.embargo.terms	3 years
dc.embargo.liftdate	2024-04-29
dc.rights.accessRights	open access	es_ES