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Refinements of a Robotic System for Stenciling of General Roadway Markings. Final rept. Mar 99-00 Sep.
| 题名： | Refinements of a Robotic System for Stenciling of General Roadway Markings. Final rept. Mar 99-00 Sep. |
| 作者： | Ravani-B.; Hemenway-J.; Patarinska-N.; Steffensen-S. |
| 关键词： | *Paints-; *Robots-; *Pavement-markings.;Traffic-control; Exposure-; Testing-; Modifications-; Accuracy-; Highway-maintenance; Algorithms-; Technology-innovation; Performance-evaluation. |
| 摘要： | The purpose of work was to refine and evaluate the feasibility of using a long reach robotic arm for use in roadway markings and stenciling operations. This was part of an effort to minimize the traffic exposure for the working crew. Sponsoring Agency Code The scope of work involved testing of the system and research into modifications that would be needed before using a long-reach robot arm developed for highway applications. It was determined that the long reach robotic arm required modifications due to the coupling effects of the dynamics and the end point accuracy required for proper edge definition in painting of roadway markings. Modifications were performed in the hydraulic system and in the control algorithm to improve the performance of the robot. The results were experimentally demonstrated with the robot without an end-effector closely following roadway markings. In addition, the paper design of a new end-effector was completed that used an innovative tilt mechanism for the painting gun. |
| 报告类型： | 科技报告 |
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