Flexible Robotic Drawing on 3D Objects with an Industrial Robot

Automatic and Flexible Robotic Drawing on Complex Surfaces With an Industrial Robot

“…computes the pose of the pen tip, i.e., the contact frame C with respect to the robot base frame B, composed of the position p C B and the unit quaternion o C B . In (24) and the remainder of this work, the notation (•) Y X refers to mathematical objects describing the geometric relation of the frame Y with respect to the frame X , expressed in X .…”

“…A preliminary version of this work is published in [24]. The main contributions beyond [24] are as follows.…”

“…A preliminary version of this work is published in [24]. The main contributions beyond [24] are as follows. First, the automatic planning pipeline utilizing a least-squares conformal mapping (LSCM) is evaluated and compared to a standard parallel projection method.…”

“…First, the automatic planning pipeline utilizing a least-squares conformal mapping (LSCM) is evaluated and compared to a standard parallel projection method. Second, both projection methods are investigated in new experiments, where the robot draws on challenging areas with more complex geometry and significantly higher curvature, in contrast to the plane-like area of [24]. Therefore, an adapted version of the hybrid force/motion controller, including adaptions to the null-space controller, was derived to be able to execute these challenging experiments.…”

“…Third, the previously used optical measurement system to calibrate the experimental setup is replaced by an inexpensive passive mechanical method. In order to keep this work self-contained, parts of the preliminary work [24] are summarized and some aspects are elaborated in more detail.…”