RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots
CoRR(2024)
摘要
Surface treatment tasks such as grinding, sanding or polishing are a vital
step of the value chain in many industries, but are notoriously challenging to
automate. We present RoboGrind, an integrated system for the intuitive,
interactive automation of surface treatment tasks with industrial robots. It
combines a sophisticated 3D perception pipeline for surface scanning and
automatic defect identification, an interactive voice-controlled wizard system
for the AI-assisted bootstrapping and parameterization of robot programs, and
an automatic planning and execution pipeline for force-controlled robotic
surface treatment. RoboGrind is evaluated both under laboratory and real-world
conditions in the context of refabricating fiberglass wind turbine blades.
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