RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots

• URL: http://arxiv.org/abs/2402.16542v2
• Date: Tue, 27 Feb 2024 08:57:43 GMT
• Title: RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots
• Authors: Benjamin Alt, Florian St\"ockl, Silvan M\"uller, Christopher Braun, Julian Raible, Saad Alhasan, Oliver Rettig, Lukas Ringle, Darko Katic, Rainer J\"akel, Michael Beetz, Marcus Strand and Marco F. Huber
• Abstract summary: RoboGrind is 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.
• Score: 7.7407798321584185
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: 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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