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29 October 1996 Robot path generation for surface processing applications via neural networks
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This paper presents a hierarchical method, based on a deterministic variant of the self-organizing map, that provides an elegant solution for automated surface processing, e.g. for robot painting and sand-blasting. Given a set of data points in arbitrary order from the object surface, the proposed method is able to generate a path, where the robot hand position and its direction are optimized using separate criteria, and the tool path is smooth and covers the object uniformly. Input data may come from a laser measurement system, CAD model, digital camera, or from human assisted object digitizing system. The algorithm is reliable and easy to implement, and a good alternative for costly manual training of a robot.
© (1996) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Pasi Koikkalainen and Markus Varsta "Robot path generation for surface processing applications via neural networks", Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996);


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