OS15-2 Painting Task Planning for Large Structure using a Mobile Manipulator

Title:	OS15-2 Painting Task Planning for Large Structure using a Mobile Manipulator
Publication:	ICAROB2025
Volume:	30
Pages:	440-444
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2025.OS15-2
Author(s):	Hiroshi Tanaka, Masato Tsuru, Takuya Kiyokawa, Kensuke Harada
Publication Date:	February 13, 2025
Keywords:	Painting, Large Structure, Mobile Manipulator, Model Predictive Control, SLAM
Abstract:	Painting a large structure with a robotic arm that is fixed to the ground is difficult due to its limited reachable range. To plan the robotic painting motion of such a large structure, we develop a robotic software system assuming a mobile manipulator to explore the environment using SLAM. Our software system includes both detection of AR markers and construction of the environmental map to determine the painting location. It can measure the error in self-position estimation that occurs during the movement. It can also generate spray trajectories for the recognized painting location and control the whole body using Model Predictive Control (MPC) to perform painting over a wide area.
PDF File:	https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS15/OS15-2.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/