The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

As part of an ongoing collaborative effort with the Ford Motor Company, our research aims to develop practical and efficient trajectory planning tools for automotive painting. This paper documents our efforts to develop analytic deposition models for electrostatic rotating bell (ESRB) atomizers, which have recently become widely used in the automotive painting industry. Conventional deposition models, used in earlier automatic trajectory planning tools, fail to capture the complexity of deposition patterns generated by ESRB atomizers. The models presented here take into account both the surface curvature and the deposition pattern of ESRB atomizers, enabling planning tools to optimize trajectories to meet several measures of quality, such as coating uniformity. In addition to the development of our models, we present experimental results used to evaluate our models, and verify the interaction between the deposition pattern, trajectory, and surface curvature.

Keywords

Automotive Painting, Trajectory Planning, Deposition Modeling, Coverage

Notes

Sponsor: NSF and the Ford Motor Company

Grant ID: IIS-9987972

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory and Biorobotics

Associated Project(s): Controlled Coverage for Auto-Body Painting

Text Reference

David C. Conner, Prasad Atkar, Alfred Rizzi, and Howie Choset, "Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning," Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002.

BibTeX Reference

@inproceedings{Conner_2002_4131,
   author = "David C Conner and Prasad Atkar and Alfred Rizzi and Howie Choset",
   title = "Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning",
   booktitle = "Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02)",
   month = "September",
   year = "2002",
}

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