Abstract
The lack of general robotics purposed, accurate open source simulators is a major setback that limits the optimized trajectory generation research and general evolution of the robotics field. Spray painting is a particular case that has multiple advantages in using a simulator for exploring new algorithms, mainly the waste of materials and the dangers associated with a robotic manipulator. This paper demonstrates an implementation of spray painting on a previously existing simulator, SimTwo. Several metrics for optimization that evaluate the painted result are also proposed. In order to validate the implementation, we conducted a real world experiment that serves both as proof that the chosen spray distribution model translates to reality and as a way to calibrate the model parameters.
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Acknowledgements
This work is financed by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia within project UIDB/50014/2020.
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Casanova, J., Lima, J., Costa, P. (2021). A Simulation Tool for Optimizing a 3D Spray Painting System. In: Pereira, A.I., et al. Optimization, Learning Algorithms and Applications. OL2A 2021. Communications in Computer and Information Science, vol 1488. Springer, Cham. https://doi.org/10.1007/978-3-030-91885-9_9
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