Abstract
In order to implement the painting of large unstructured surface in the ship section, the mobile robot system consisting of an automatic guided vehicle (AGV), a scissors elevator, and a 6R industrial painting robot is proposed. To ensure the terminal accuracy and reduce the requirements on cooperative control, the intermittent operation mode will be adopted with the station planning. In order to facilitate the station planning, this paper carried out the analysis of the regular manipulating workspace for the system. Firstly, the reachable workspace is established with the homogeneous transformation matrix and the kinematic analysis. The singularity and accuracy is analyzed considering the distribution of the condition number. Based the projection, the interference is analyzed between the robot and other parts. Finally, boundaries of the regular workspace are formulated for the mobile robot system, which provides a solid foundation for the station planning and efficient painting.
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Acknowledgment
This work was financially supported by the Joint Funds of the National Natural Science Foundation of China (Grant No. U19A20101) and High-tech Ship Project of the Ministry of Industry and Information Technology of China (Grant No. MC-201906-Z01).
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Zhang, S., Qie, J., Shao, Z., Sun, Z. (2021). Workspace Analysis of a Mobile Robot System for the Ship Section Painting. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_65
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DOI: https://doi.org/10.1007/978-3-030-89134-3_65
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