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- W4300643463 abstract "In this paper, a method is presented for lowering the energy consumption and/or increasing the speed of a standard manipulator spray painting a surface. The approach is based on the observation that a small angle between the spray direction and the surface normal does not affect the quality of the paint job. Recent results in set-based kinematic control are utilized to develop a switched control system, where this angle is defined as a set-based task with a maximum allowed limit. Four different set-based methods are implemented and tested on a UR5 manipulator from Universal Robots. Experimental results verify the correctness of the method, and demonstrate that the set-based approaches can substantially lower the paint time and energy consumption compared to the current standard solution." @default.
- W4300643463 created "2022-10-03" @default.
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- W4300643463 date "2016-12-29" @default.
- W4300643463 modified "2023-09-26" @default.
- W4300643463 title "Set-based Control for Autonomous Spray Painting" @default.
- W4300643463 doi "https://doi.org/10.48550/arxiv.1612.09105" @default.
- W4300643463 hasPublicationYear "2016" @default.
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