Automatic generation of movement sequences to robotic arm based on three-dimensional data obtained through fringe projection technique

Abstract

The use of robotic manipulators is a subject that has become relevant in the process of automation in different branches of industrial manufacturing. Today is possible to make routines works with robotic manipulator in dangerous conditions for human operators, providing flexibility in production lines, doing multiple types of tasks and executing actions with precision and quickly. All operations of a robotic arm is controlled by a computer system that controls the mechanism positions. Since the work of these machines is to manipulate tools or pieces, it is necessary to have tridimensional information of the environment or manipulated elements. In this work, the fringe projection technique is used to obtain three-dimensional shape of an object, and based on this information to generate the trajectories of the manipulator for the painting of complex objects through paint spraying. The obtained results have been successful, generating simulated trajectories for the painting of pieces with good quality and short times compared with times using traditional methods to program sequences.