RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots

Benjamin Alt,Florian Stöckl,Silvan Müller,Christopher Braun,Julian Raible,Saad Alhasan,Oliver Rettig,Lukas Ringle,Darko Katic,Rainer Jäkel,Michael Beetz,Marcus Strand,Marco F. Huber,Benjamin Alt,Florian Stöckl,Silvan Müller,Christopher Braun,Julian Raible,Saad Alhasan,Oliver Rettig,Lukas Ringle,Darko Katic,Rainer Jäkel,Michael Beetz,Marcus Strand,Marco F. Huber

Surface treatment tasks such as grinding, sanding or polishing are a vital step of the value chain in many industries, but are notoriously challenging to automate. We present RoboGrind, an integrated system for the intuitive, interactive automation of surface treatment tasks with industrial robots. It combines a sophisticated 3D perception pipeline for surface scanning and automatic defect identif...