Robotic measurement and processing of arbitrary oriented surfaces

dc.contributor.author	Tao, Wei	en_US
dc.date.accessioned	2024-08-15T20:07:38Z
dc.date.available	2024-08-15T20:07:38Z
dc.date.copyright	1996	en_US
dc.date.issued	1996
dc.degree.department	Department of Mechanical Engineering
dc.degree.level	Master of Applied Science M.A.Sc.	en
dc.description.abstract	This work addresses the problem of automation of industrial robot operations in an unstructured environment. A novel automatic surface measurement and trajectory planning methodology and software are developed. The methodology includes four steps: (1) object search, (2) measurement of the object surface and collection of data, (3) surface modelling, and (4) the generation of the control program for robot joint actuators which provides the end-effector motion along the required trajectory on the surface with the required force interaction. A computer graphical interface is developed so that the user can generate and modify the task trajectory interactively. Furthermore, the user can simulate the job task on computer, specify the robot searching path, and control the robot from a remote location.
dc.format.extent	111 pages
dc.identifier.uri	https://hdl.handle.net/1828/19861
dc.rights	Available to the World Wide Web	en_US
dc.title	Robotic measurement and processing of arbitrary oriented surfaces	en_US
dc.type	Thesis	en_US

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