Geometry-aware coverage path planning for depowdering on complex 3D surfaces
This paper presents a new approach to obtaining nearly complete coverage paths (CP) with low overlapping on 3D general surfaces using mesh models. The CP is obtained by segmenting the mesh model into a given number of clusters using constrained centroidal Voronoi tessellation (CCVT) and finding t...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/171728 |
| _version_ | 1826127869098590208 |
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| author | Do, Van-Thach Pham, Quang-Cuong |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Do, Van-Thach Pham, Quang-Cuong |
| author_sort | Do, Van-Thach |
| collection | NTU |
| description | This paper presents a new approach to obtaining nearly complete coverage
paths (CP) with low overlapping on 3D general surfaces using mesh models. The
CP is obtained by segmenting the mesh model into a given number of clusters
using constrained centroidal Voronoi tessellation (CCVT) and finding the
shortest path from cluster centroids using the geodesic metric efficiently. We
introduce a new cost function to harmoniously achieve uniform areas of the
obtained clusters and a restriction on the variation of triangle normals during
the construction of CCVTs. The obtained clusters can be used to construct
high-quality viewpoints (VP) for visual coverage tasks. Here, we utilize the
planned VPs as cleaning configurations to perform residual powder removal in
additive manufacturing using manipulator robots. The self-occlusion of VPs and
ensuring collision-free robot configurations are addressed by integrating a
proposed optimization-based strategy to find a set of candidate rays for each
VP into the motion planning phase. CP planning benchmarks and physical
experiments are conducted to demonstrate the effectiveness of the proposed
approach. We show that our approach can compute the CPs and VPs of various mesh
models with a massive number of triangles within a reasonable time. |
| first_indexed | 2024-10-01T07:15:53Z |
| format | Journal Article |
| id | ntu-10356/171728 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:15:53Z |
| publishDate | 2023 |
| record_format | dspace |
| spelling | ntu-10356/1717282023-11-06T05:49:00Z Geometry-aware coverage path planning for depowdering on complex 3D surfaces Do, Van-Thach Pham, Quang-Cuong School of Mechanical and Aerospace Engineering HP-NTU Digital Manufacturing Corporate Lab Engineering::Mechanical engineering Additive Manufacturing Industrial Robots This paper presents a new approach to obtaining nearly complete coverage paths (CP) with low overlapping on 3D general surfaces using mesh models. The CP is obtained by segmenting the mesh model into a given number of clusters using constrained centroidal Voronoi tessellation (CCVT) and finding the shortest path from cluster centroids using the geodesic metric efficiently. We introduce a new cost function to harmoniously achieve uniform areas of the obtained clusters and a restriction on the variation of triangle normals during the construction of CCVTs. The obtained clusters can be used to construct high-quality viewpoints (VP) for visual coverage tasks. Here, we utilize the planned VPs as cleaning configurations to perform residual powder removal in additive manufacturing using manipulator robots. The self-occlusion of VPs and ensuring collision-free robot configurations are addressed by integrating a proposed optimization-based strategy to find a set of candidate rays for each VP into the motion planning phase. CP planning benchmarks and physical experiments are conducted to demonstrate the effectiveness of the proposed approach. We show that our approach can compute the CPs and VPs of various mesh models with a massive number of triangles within a reasonable time. This work was supported in part by Industry Alignment Fund - Industry Collaboration Projects (IAF-ICP) under Grant RIE2020, in part by Funding Initiative, and in part by the cash and in-kind contribution from the industry partner, HP Inc., through the HP-NTU Digital Manufacturing Corporate Lab. 2023-11-06T05:49:00Z 2023-11-06T05:49:00Z 2023 Journal Article Do, V. & Pham, Q. (2023). Geometry-aware coverage path planning for depowdering on complex 3D surfaces. IEEE Robotics and Automation Letters, 8(9), 5552-5559. https://dx.doi.org/10.1109/LRA.2023.3296943 2377-3766 https://hdl.handle.net/10356/171728 10.1109/LRA.2023.3296943 2-s2.0-85165305327 9 8 5552 5559 en IAF-ICP IEEE Robotics and Automation Letters © 2023 IEEE. All rights reserved. |
| spellingShingle | Engineering::Mechanical engineering Additive Manufacturing Industrial Robots Do, Van-Thach Pham, Quang-Cuong Geometry-aware coverage path planning for depowdering on complex 3D surfaces |
| title | Geometry-aware coverage path planning for depowdering on complex 3D surfaces |
| title_full | Geometry-aware coverage path planning for depowdering on complex 3D surfaces |
| title_fullStr | Geometry-aware coverage path planning for depowdering on complex 3D surfaces |
| title_full_unstemmed | Geometry-aware coverage path planning for depowdering on complex 3D surfaces |
| title_short | Geometry-aware coverage path planning for depowdering on complex 3D surfaces |
| title_sort | geometry aware coverage path planning for depowdering on complex 3d surfaces |
| topic | Engineering::Mechanical engineering Additive Manufacturing Industrial Robots |
| url | https://hdl.handle.net/10356/171728 |
| work_keys_str_mv | AT dovanthach geometryawarecoveragepathplanningfordepowderingoncomplex3dsurfaces AT phamquangcuong geometryawarecoveragepathplanningfordepowderingoncomplex3dsurfaces |