This repository contains the code and files for a master's thesis created by Vaclav Kubacek. This project focuses on developing an autonomous robotic system for sanding or polishing convex surfaces using a 3D vision system and force feedback control.
To get the password to extract the zip file with source codes, please contact one of vaclav.kubacek@cvut.cz, tomas.jochman@cvut.cz, pavel.burget@cvut.cz.
- Python Files: Scripts for point cloud processing and path generation.
- Robot Files: Control algorithms and programs for the roboti controller.
- RoboDK Project Files: Simulation of robotic paths in RoboDK.
- Point Cloud Processing: Algorithms to process 3D vision data and generate precise sanding paths.
- Path Generation: Generation of zig-zag and spiral patterns for comprehensive surface coverage.
- Force Feedback Control: Dynamic adjustment of the robot’s path based on real-time force feedback to maintain consistent pressing force.
- OPC UA Communication: Data exchange between system components.
- Augmented Reality Integration: Use of Hololens 2 for visualization and interaction with the sanding paths.
