5 accepted papers
We provide a novel solution to the problem of robot tool path generation to uniformly cover the surface area of a curved surface with varying curvatures by using a circular, flat finishing tool. We first develop a local contact shape descriptor using tools from differential geometry to estimate the
This letter considers the object pose estimation problem for robotic tasks where the robot end-effector is mounted with a vision sensor to collect point clouds from multiple views. The focus of this work is on generating and planning sensor views online based on the feedback from point cloud analysi
Advancements in robot technology are allowing for increasing integration of humans and robots in shared space manufacturing processes. While individual task performance of the robotic assistance and human operator can be separately optimized, the interaction between humans and robots can lead to eme
In this paper, we develop a novel path-constrained and collision-free optimal trajectory planning algorithm for robot manipulators in the presence of obstacles for the following problem: Given a desired sequence of discrete waypoints of robot configurations, a set of robot kinematic and dynamic cons…
Surface finishing of freeform surfaces is predominately a manual operation that requires a considerable amount of operator skill; automation of this process has many benefits, including consistent surface quality, preventing hazardous exposure to particulate, etc. A novel robotic surface finishing s…