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Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints

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Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints

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dc.contributor.author García-Fernández, Alberto es_ES
dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Solanes Galbis, Juan Ernesto es_ES
dc.contributor.author Girbés-Juan, Vicent es_ES
dc.contributor.author Perez-Vidal, Carlos es_ES
dc.contributor.author Tornero Montserrat, Josep es_ES
dc.date.accessioned 2022-05-10T18:06:41Z
dc.date.available 2022-05-10T18:06:41Z
dc.date.issued 2021-08 es_ES
dc.identifier.issn 0360-8352 es_ES
dc.identifier.uri http://hdl.handle.net/10251/182479
dc.description.abstract [EN] Surface treatment operations, such as sanding, deburring, finishing, grinding, polishing, etc. are progressively becoming more automated using robotic systems. However, previous research in this field used a completely automatic operation of the robot system or considered a low degree of human-robot interaction. Therefore, to overcome this issue, this work develops a truly synergistic cooperation between the human operator and the robot system to get the best from both. In particular, in the application developed in this work the human operator provides flexibility, guiding the tool of the robot system to treat arbitrary regions of the workpiece surface; while the robot system provides strength, accuracy and security, not only holding the tool and keeping the right tool orientation, but also guaranteeing a smooth approach to the workpiece and confining the tool within the allowed area close to the workpiece. Moreover, to add more flexibility to the proposed method, when the user is not guiding the robot tool, a robot automatic operation is activated to perform the treatment in prior established regions. Furthermore, a camera network is used to get a global view of the robot workspace in order to obtain the workpiece location accurately and in real-time. The effectiveness of the proposed approach is shown with several experiments using a 6R robotic arm. es_ES
dc.description.sponsorship This research was founded by the Spanish Government and the Generalitat Valenciana under Grants PID2020-117421RB-C21, GV/2021/181 and ACIF/2019/007. es_ES
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation.ispartof Computers & Industrial Engineering es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Human-robot cooperation es_ES
dc.subject Smooth approach es_ES
dc.subject Boundary constraints es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.cie.2021.107366 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//AEST%2F2019%2F010//AYUDA ESTANCIA EN EMPRESA FORD ESPAÑA S.A. "ROBOTICA INDUSTRIAL/COLABORATIVA EN EL PROCESO DE LIJADO/PULIDO DE CARROCERIAS DE AUTOMOVIL"/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-117421RB-C21/ES/PULIDO ROBOTIZADO AVANZADO DE SUPERFICIES EN LA INDUSTRIA DEL AUTOMOVIL/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//ACIF%2F2019%2F007//AYUDA PREDOCTORAL GVA-GARCIA FERNANDEZ. PROYECTO: COLABORACION HUMANO-ROBOT ROBUSTA PARA TAREAS DE PULIDO EN LA INDUSTRIA DE LA AUTOMOCION./ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//GV%2F2021%2F181//Interacción humano-robot avanzada basada en realidad mixta y fusión sensorial para operaciones de tratamiento de superficies de productos manufacturados./ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//AEST%2F2021%2F079//ESTANCIA ALFATEC. DETECCIÓN Y CLASIFICACIÓN DE DEFECTOS.../ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation García-Fernández, A.; Gracia Calandin, LI.; Solanes Galbis, JE.; Girbés-Juan, V.; Perez-Vidal, C.; Tornero Montserrat, J. (2021). Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints. Computers & Industrial Engineering. 158:1-16. https://doi.org/10.1016/j.cie.2021.107366 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.cie.2021.107366 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 16 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 158 es_ES
dc.relation.pasarela S\438044 es_ES
dc.contributor.funder GENERALITAT VALENCIANA es_ES
dc.contributor.funder AGENCIA ESTATAL DE INVESTIGACION es_ES
dc.contributor.funder UNIVERSIDAD POLITECNICA DE VALENCIA es_ES


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