Algoritmo de generación de trayectorias en el interior de chapas para la subsanación de defectos
- Álvaro Fernández García 1
- Sara Roos Hoefgeest Toribio 1
- Ignacio Álvarez García 1
- Rafael Corsino González de los Reyes 1
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1
Universidad de Oviedo
info
- Jose Luis Calvo Rolle (coord.)
- Jose Luis Casteleiro Roca (coord.)
- María Isabel Fernández Ibáñez (coord.)
- Óscar Fontenla Romero (coord.)
- Esteban Jove Pérez (coord.)
- Alberto José Leira Rejas (coord.)
- José Antonio López Vázquez (coord.)
- Vanesa Loureiro Vázquez (coord.)
- María Carmen Meizoso López (coord.)
- Francisco Javier Pérez Castelo (coord.)
- Andrés José Piñón Pazos (coord.)
- Héctor Quintián Pardo (coord.)
- Juan Manuel Rivas Rodríguez (coord.)
- Benigno Rodríguez Gómez (coord.)
- Rafael Alejandro Vega Vega (coord.)
Éditorial: Servizo de Publicacións ; Universidade da Coruña
ISBN: 978-84-9749-716-9
Année de publication: 2019
Pages: 702-709
Congreso: Jornadas de Automática (40. 2019. Ferrol)
Type: Communication dans un congrès
Résumé
This paper describes a path planning algorithm to allow a mobile robot to repair surface defects of a steel sheet. The resulting trajectories ensure that the polygonal surface that encloses the defect is completely covered by the repairing tool carried by the robot. In addition, the robot should work within the surface of the metal sheet. Defects will be described as polygonal shapes. First, they will be divided according to diffierent working áreas. Then, each resulting shape will be divided again into simpler triangular and trapezoidal shapes. To guarantee that the defect is completely covered, the tool trajectory is defined as a set of rectinilear paths parallel to the axis of the sheet is generated. This trajectory is then shifted to obtain the robot trajectory.