<div class="csl-bib-body">
<div class="csl-entry">Weingartshofer, T., Haddadi, A., Hartl-Nesic, C., & Kugi, A. (2022). Flexible Robotic Drawing on 3D Objects with an Industrial Robot. In <i>2022 IEEE Conference on Control Technology and Applications (CCTA)</i> (pp. 29–36). https://doi.org/10.1109/CCTA49430.2022.9966015</div>
</div>
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dc.identifier.uri
http://hdl.handle.net/20.500.12708/153420
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dc.description.abstract
Robotic path planning is a crucial step in in-dustrial manufacturing processes on 3D objects. The industry trend of growing product diversity and individual customization requires fully automatic and flexible production systems. In this work, an automatic workflow to execute a drawing process on a 3D object from a user-provided 2D input pattern is presented. The workflow involves a mesh segmentation, a flattening algorithm using least-squares conformal mappings and a projection using barycentric coordinates. Based on the resulting 3D path, a robot trajectory is automatically generated. Two different control concepts, i.e. motion control and hybrid force/motion control, are evaluated experimentally in view of replication accuracy and contact forces.
en
dc.language.iso
en
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dc.relation.ispartofseries
Control Technology and Applications.
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dc.subject
Robotics
en
dc.title
Flexible Robotic Drawing on 3D Objects with an Industrial Robot
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dc.type
Inproceedings
en
dc.type
Konferenzbeitrag
de
dc.relation.isbn
978-1-6654-7338-5
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dc.description.startpage
29
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dc.description.endpage
36
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dc.type.category
Full-Paper Contribution
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dc.relation.eissn
2768-0770
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tuw.booktitle
2022 IEEE Conference on Control Technology and Applications (CCTA)
