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arXiv · 1612.09105

Set-based Control for Autonomous Spray Painting

Signe Moe·Jan Tommy Gravdahl·Kristin Y. Pettersen
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Abstract

In this paper, a method is presented for lowering the energy consumption and/or increasing the speed of a standard manipulator spray painting a surface. The approach is based on the observation that a small angle between the spray direction and the surface normal does not affect the quality of the paint job. Recent results in set-based kinematic control are utilized to develop a switched control system, where this angle is defined as a set-based task with a maximum allowed limit. Four different set-based methods are implemented and tested on a UR5 manipulator from Universal Robots. Experimental results verify the correctness of the method, and demonstrate that the set-based approaches can substantially lower the paint time and energy consumption compared to the current standard solution.

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Signe Moe, Jan Tommy Gravdahl, Kristin Y. Pettersen. 2016-12-29. Set-based Control for Autonomous Spray Painting. https://arxiv.org/abs/1612.09105

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