ICRA 2011 Paper Abstract


Paper WeP110.1

Barnett, Eric (McGill University), Angeles, Jorge (McGill University), Pasini, Damiano (McGill University), Sijpkes, Pieter (McGill University)

Surface Mapping Feedback for Robot-Assisted Rapid Prototyping

Scheduled for presentation during the Regular Sessions "Industrial Automation" (WeP110), Wednesday, May 11, 2011, 13:40−13:55, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Product Design, Development and Prototyping, Reactive and Sensor-Based Planning


A fundamental problem with many solid freeform fabrication systems is the production of large dimensional errors, due to the freeform construction process. The subject of this paper is surface mapping feedback (SMF), a closed-loop technique for minimizing the dimensional errors produced by rapid prototyping systems. The main steps of the technique are presented, namely part measurement, control implementation, and deposition adjustment. A test platform, the Cobra 600 rapid freeze prototyping system, is used to validate SMF. A helical gear part is constructed first with open-loop control and then with SMF control; system performance and part quality are compared for the two cases.



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