Robot Coverage Path Planning Based on Iterative Structured Orientation

doi:10.12700/aph.15.1.2018.2.12

Cited by 4 publications

(3 citation statements)

References 30 publications

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“…Some of the most advanced techniques apply the recent results of research in the field of Cyber-Physical Systems [10,29,39] and the Digital Twin [32,46] related developments. The main advantages are that the generated code is reusable, flexible for modifications, and complex paths can be produced with reduced production downtime [18]. However, the OLP systems utilization in SMEs is limited due to the economic disadvantages for small volume production caused by the high cost of the OLP packages and the programming overhead for customization [34].…”

Section: Programming Methodsmentioning

confidence: 99%

Supportive Robotic Welding System for Heavy, Small Series Production with Non-Uniform Welding Grooves

Horváth¹,

Köröndi²

2018

ACTA POLYTECH HUNG

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Heavy welding is a demanding task with high robotization potential. This applies especially for the runners of Francis hydropower turbines, due to the high working costs and EHS requirements in Europe. However, heavy welding is often related to small-series production with long processing time. This sets high demands on the planning and monitoring functionality of the robot system. The research in this field is gaining momentum, yet very few articles suggest suitable solutions. This paper presents a robotic welding control system design and application that facilitates the planning, control, and monitoring of the welding process of non-uniform grooves of large-dimension joints. Its primary and unique characteristic is the simplified operator assisted programming method, where the threedimensional path modification problem is translated into consecutive two-dimensional modifications. Therefore, reference cross-sections are created along the welding groove, where the sequence planning task of multi-pass weld bead placement is performed, and to the online modifications together with the adjustments are referred. The planning, changes and process supervision are supported by the robot system to handle uncertainties along the welding groove and adaptively utilize the robot operator experience. The activities are tracked and organized to supply information for later performance enhancement and reusability between similar processes. The supportive system design is particularly suitable for advanced, large-dimension, heavy robotic welding applications. A use case is presented on a welding a runner of Francis hydropower turbine.

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Section: Programming Methodsmentioning

confidence: 99%

Supportive Robotic Welding System for Heavy, Small Series Production with Non-Uniform Welding Grooves

Horváth¹,

Köröndi²

2018

ACTA POLYTECH HUNG

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“…At the SCSS2019 workshop, which is organized annually by the Automation and Information Technology department at the ICDT Research and Development Institute of UTBV, Romania, 45 papers were presented, of which 16 in the field of robotics. In the three sections: Automation [1], Information Technology [2] and Robotics [3][4] [5], the main topics presented were mobile robots with traffic sign recognition, object tracking [6], path planning [7], gesture recognition, voice command processing [8], motion planning [9], 3D object reconstruction, parallel robot investigations [10] and others.…”

Section: Introductionmentioning

confidence: 99%

Cognitive robotics software development aspects based on experiments of future software engineers

Demeter

Kővári

Katona

et al. 2020

2020 11th IEEE International Conference on Cognitive Infocommunications (CogInfoCom)

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Machine learning algorithms are widely used in the domain of robotics. In particular, applications using machine learning and artificial intelligence algorithms have led to promising results in industrial applications, cognitive robotics and thus gained attention in recent years. In this context, the purpose of this article is to present the technologies and architectures used in the design and development of cognitive robots by students. This study highlights the difficulties encountered by future engineers in developing research projects in robotics.

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“…CPP describes an approach which is designed to determine the path that traverses all points in a defined operational environment (DOE) while avoiding static and dynamic (moving) obstacles within a defined operational area [3,4]. Further investigation has been concerned with an Iterative Structured Orientation Coverage, which is capable of handling complex environments [5], in an investigation of the current state of swarm robotics such as self-reconfigurable, modular, self-replicating, and swarm systems [6].…”

Section: Introductionmentioning

confidence: 99%

Proposed Smooth-STC Algorithm for Enhanced Coverage Path Planning Performance in Mobile Robot Applications

2019

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Robotic path planning is a field of research which is gaining traction given the broad domains of interest to which path planning is an important systemic requirement. The aim of path planning is to optimise the efficacy of robotic movement in a defined operational environment. For example, robots have been employed in many domains including: Cleaning robots (such as vacuum cleaners), automated paint spraying robots, window cleaning robots, forest monitoring robots, and agricultural robots (often driven using satellite and geostationary positional satellite data). Additionally, mobile robotic systems have been utilised in disaster areas and locations hazardous to humans (such as war zones in mine clearance). The coverage path planning problem describes an approach which is designed to determine the path that traverses all points in a defined operational environment while avoiding static and dynamic (moving) obstacles. In this paper we present our proposed Smooth-STC model, the aim of the model being to identify an optimal path, avoid all obstacles, prevent (or at least minimise) backtracking, and maximise the coverage in any defined operational environment. The experimental results in a simulation show that, in uncertain environments, our proposed smooth STC method achieves an almost absolute coverage rate and demonstrates improvement when measured against alternative conventional algorithms.

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Robot Coverage Path Planning Based on Iterative Structured Orientation

Cited by 4 publications

References 30 publications

Supportive Robotic Welding System for Heavy, Small Series Production with Non-Uniform Welding Grooves

Supportive Robotic Welding System for Heavy, Small Series Production with Non-Uniform Welding Grooves

Cognitive robotics software development aspects based on experiments of future software engineers

Proposed Smooth-STC Algorithm for Enhanced Coverage Path Planning Performance in Mobile Robot Applications

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