Abstract Scope |
Robotic spray-processes are used in many industries, including automotive and aerospace. Path planning for these spray process, particularly spray painting, is challenging when attempting to account for how the process interacts with complex geometries. One can use computer simulation to help train machine learning methods, such as a convolutional neural network, to use images to learn a path planning policy. In this work, we feature engineer input channels for these images to provide the network with key geometric and process information during the spray process. This talk will show the development of these features, the architecture of the learning system, and the results and transferability of the policy learned. |