Application of Discrete Exterior Calculus Methods for the Path Planning  of Manipulator Performing Thermal Plasma Spray-ing of Coatings

Assel Kussaiyn-Murat; Albina Kadyroldina; Alexander Krasavin; Maral Tolykbayeva; Arailym Orazova; Gaukhar Nazenova; Iurii Krak; Tamás Haidegger; Darya Alontseva

doi:10.20944/preprints202410.2347.v1

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preprints.org > computer science and mathematics > robotics > doi: 10.20944/preprints202410.2347.v1 (registering DOI)

Preprint Article Version 1 This version is not peer-reviewed

Application of Discrete Exterior Calculus Methods for the Path Planning of Manipulator Performing Thermal Plasma Spray-ing of Coatings

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Version 1 : Received: 28 October 2024 / Approved: 29 October 2024 / Online: 29 October 2024 (17:02:01 CET)

How to cite: Kussaiyn-Murat, A.; Kadyroldina, A.; Krasavin, A.; Tolykbayeva, M.; Orazova, A.; Nazenova, G.; Krak, I.; Haidegger, T.; Alontseva, D. Application of Discrete Exterior Calculus Methods for the Path Planning of Manipulator Performing Thermal Plasma Spray-ing of Coatings. Preprints 2024, 2024102347. https://doi.org/10.20944/preprints202410.2347.v1 Kussaiyn-Murat, A.; Kadyroldina, A.; Krasavin, A.; Tolykbayeva, M.; Orazova, A.; Nazenova, G.; Krak, I.; Haidegger, T.; Alontseva, D. Application of Discrete Exterior Calculus Methods for the Path Planning of Manipulator Performing Thermal Plasma Spray-ing of Coatings. Preprints 2024, 2024102347. https://doi.org/10.20944/preprints202410.2347.v1

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MDPI and ACS Style

Kussaiyn-Murat, A.; Kadyroldina, A.; Krasavin, A.; Tolykbayeva, M.; Orazova, A.; Nazenova, G.; Krak, I.; Haidegger, T.; Alontseva, D. Application of Discrete Exterior Calculus Methods for the Path Planning of Manipulator Performing Thermal Plasma Spray-ing of Coatings. Preprints 2024, 2024102347. https://doi.org/10.20944/preprints202410.2347.v1

APA Style

Kussaiyn-Murat, A., Kadyroldina, A., Krasavin, A., Tolykbayeva, M., Orazova, A., Nazenova, G., Krak, I., Haidegger, T., & Alontseva, D. (2024). Application of Discrete Exterior Calculus Methods for the Path Planning of Manipulator Performing Thermal Plasma Spray-ing of Coatings. Preprints. https://doi.org/10.20944/preprints202410.2347.v1

Chicago/Turabian Style

Kussaiyn-Murat, A., Tamás Haidegger and Darya Alontseva. 2024 "Application of Discrete Exterior Calculus Methods for the Path Planning of Manipulator Performing Thermal Plasma Spray-ing of Coatings" Preprints. https://doi.org/10.20944/preprints202410.2347.v1

Abstract

The paper presents a new method of path planning for an industrial robot manipulator performing thermal plasma spraying of coatings. Path planning and automatic generation of the manipulator motion program are performed using preliminary 3D surface scanning data from a laser trian-gulation distance sensor installed on the same robot arm. The new path planning algorithm is based on constructing a function of the geodesic distance from the starting curve. A new method for constructing a geodesic distance function on a surface is proposed based on the application of discrete exterior calculus methods characterized by high computational efficiency. The developed algorithms and their software implementation were experimentally tested through robotic mi-croplasma spraying of a protective coating on the surface of a jaw crusher plate, which was then successfully operated for crushing mineral raw materials.

Keywords

industrial robot-manipulator; 3D scanning; automatic path planning; geodesic distance function; Riemannian manifolds; tangent vector fields

Subject

Computer Science and Mathematics, Robotics

Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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