Application of Discrete Exterior Calculus Methods for the Path Planning of a Manipulator Performing Thermal Plasma Spraying of Coatings †
Kussaiyn-Murat A. Kadyroldina A. Krasavin A. Tolykbayeva M. Orazova A. Nazenova G. Krak I. Haidegger T. Alontseva D.
February 2025Multidisciplinary Digital Publishing Institute (MDPI)
Sensors
2025#25Issue 3
This paper presents a new method of path planning for an industrial robot manipulator that performs thermal plasma spraying of coatings. Path planning and automatic generation of the manipulator motion program are performed using preliminary 3D surface scanning data from a laser triangulation distance sensor installed on the same robot arm. The new path planning algorithm is based on constructing a function of the geodesic distance from the starting curve. A new method for constructing a geodesic distance function on a surface is proposed, based on the application of Discrete Exterior calculus methods, which is characterized by a high computational efficiency. The developed algorithms and their software implementation were experimentally tested with the robotic microplasma spraying of a protective coating on the surface of a jaw crusher plate, which was then successfully operated for crushing mineral-based raw materials.
3D scanning , automatic path planning , geodesic distance function , industrial robot manipulator , Riemannian manifolds , tangent vector fields
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School of Digital Technologies and Artificial Intelligence, D. Serikbayev East, Kazakhstan Technical University, 19 Serikbayev Street, Ust-Kamenogorsk, 070010, Kazakhstan
Department of Theoretical Cybernetics, Faculty of Computer Science and Cybernetics, Taras Shevchenko National University of Kyiv, 64/13 Volodymyrska str., Kyiv, 01601, Ukraine
University Research and Innovation Center (EKIK), Óbuda University, Bécsi út 96/b, I.–II. em., Budapest, 1034, Hungary
School of Digital Technologies and Artificial Intelligence
Department of Theoretical Cybernetics
University Research and Innovation Center (EKIK)
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