PaintNet: Unstructured Multi-Path Learning from 3D Point Clouds for Robotic Spray Painting

Popular industrial robotic problems such as spray painting and welding require (i) conditioning on free-shape 3D objects and (ii) planning of multiple trajectories to solve the task. Yet, existing solutions make strong assumptions on the form of input surfaces and the nature of output paths, resulting in limited approaches unable to cope with real-data variability. By leveraging on recent advances in 3D deep learning, we introduce a novel framework capable of dealing with arbitrary 3D surfaces, and handling a variable number of unordered output paths (i.e. unstructured). Our approach focuses on predicting smaller path segments, which can be later concatenated to reconstruct long-horizon paths. We extensively validate the proposed method in the context of robotic spray painting by releasing PaintNet, the first public dataset of expert demonstrations on free-shape 3D objects collected in a real industrial scenario. A thorough experimental analysis demonstrates the capabilities of our model to promptly predict smooth output paths that cover up to 95% of the surface of previously unseen object instances. Furthermore, we show how models learned from PaintNet capture relevant features which serve as a reliable starting point to improve data and time efficiency when dealing with new object categories

Robotereinsatz in der werkstattorientierten Fertigung

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Programming environment for path generation of manipulator systems of festo AG & Co. KG and its implementation

This thesis presents development and implementation of a programming environment for path generation of mechatronics systems. Our aim is to develop algorithms and a software framework to be used along with Festo Ag & Co. KG, industrial systems, by applying task level programming. In this thesis the user interface, the motion reference generation for different tasks and automatic uploading and execution in Festo real time mechatronics systems control environment are referred. The software consists of GUI, data management, functions that generate motion reference suitable for real time application within Festo control environment. Main focus and the contribution is the developed mathematical algorithms used for generation reference position and orientations for the manipulators and the GUI that allows multiple pattern and target definition. Algorithms and software are created for processing a 2D pattern to a 3D target object which has structure symmetric around an axis of rotation. The GUI accepts user defined object and patterns and automatically generates reference motion (tip position and orientation) for manipulator. The output files that specifies motion of overall system is then uploaded for real-time implementation. The user has a library of the primitive patterns that may be used in generating desired pattern. The developed software is tested on real system for heavy tires production

Automatic Robotic Spray Painting of Low Volume High Variant Parts

ABSTRACT With the advance in IT technology sensors and processing power exist to achieve fully automated robot programming in industrial tasks. This paper reports on the EU-project FlexPaint, which devised a methodology to automatically generate robot programs for spray painting of unknown parts. The solution uses four steps: laser triangulation sensing, geometric feature detection, tool path planning, and the generation of the collision-free executable robot program. Demonstrations at industrial partners show the results

Automatic Robotic Spray Painting of Low Volume High Variant Parts

ABSTRACT With the advance in IT technology sensors and processing power exist to achieve fully automated robot programming in industrial tasks. This paper reports on the EU-project FlexPaint, which devised a methodology to automatically generate robot programs for spray painting of unknown parts. The solution uses four steps: laser triangulation sensing, geometric feature detection, tool path planning, and the generation of the collision-free executable robot program. Demonstrations at industrial partners show the results