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    Search-based collision-free motion planning for robotic sculpting

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    JAIN-THESIS-2020.pdf (5.122Mb)
    Date
    2020-07-28
    Author
    Jain, Abhinav
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    Abstract
    In this work, I explore the task of robot sculpting. I propose a search-based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. I generate collision free trajectories for a manipulator using best-first search in two different material representations – a voxel representations and a subdivision surface representation. I also show significant speedup of the algorithm in the voxel representation by using octrees to decompose the voxel space. I demonstrate the algorithm on a multi-axis manipulator in simulation and on a physical robot by sculpting Michelangelo’s Statue of David.
    URI
    http://hdl.handle.net/1853/63698
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    • College of Computing Theses and Dissertations [1071]
    • Georgia Tech Theses and Dissertations [22401]
    • School of Interactive Computing Theses and Dissertations [106]

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