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Sensors 2018, 18(5), 1548; https://doi.org/10.3390/s18051548

Development and Performance Evaluation of Image-Based Robotic Waxing System for Detailing Automobiles

Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Rd., Sec. 4, Taipei 106, Taiwan
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Author to whom correspondence should be addressed.
Received: 2 April 2018 / Revised: 9 May 2018 / Accepted: 12 May 2018 / Published: 14 May 2018
(This article belongs to the Section Physical Sensors)

Abstract

Waxing is an important aspect of automobile detailing, aimed at protecting the finish of the car and preventing rust. At present, this delicate work is conducted manually due to the need for iterative adjustments to achieve acceptable quality. This paper presents a robotic waxing system in which surface images are used to evaluate the quality of the finish. An RGB-D camera is used to build a point cloud that details the sheet metal components to enable path planning for a robot manipulator. The robot is equipped with a multi-axis force sensor to measure and control the forces involved in the application and buffing of wax. Images of sheet metal components that were waxed by experienced car detailers were analyzed using image processing algorithms. A Gaussian distribution function and its parameterized values were obtained from the images for use as a performance criterion in evaluating the quality of surfaces prepared by the robotic waxing system. Waxing force and dwell time were optimized using a mathematical model based on the image-based criterion used to measure waxing performance. Experimental results demonstrate the feasibility of the proposed robotic waxing system and image-based performance evaluation scheme. View Full-Text
Keywords: robotic waxing system; force control; image-based performance evaluation; parameter optimization robotic waxing system; force control; image-based performance evaluation; parameter optimization
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Lin, C.-Y.; Hsu, B.-C. Development and Performance Evaluation of Image-Based Robotic Waxing System for Detailing Automobiles. Sensors 2018, 18, 1548.

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