In this article, a novel approach for the versatile wrinkle-free application of (curved) precut adhesive tapes on freeform 3-D surfaces is presented. Straight and curved tape application paths are mapped onto the 3-D object as geodesics and as lines with imposed geodesic curvature, respectively. The proposed surface-based path following control concept extends the classical path following control by a novel parallel contact frame and a parallel projection operator. Using a static state feedback, the robotic system is transformed into a system with linear input-output behavior in the path coordinates. This allows to traverse a path on a 3-D object with a draping roll without turning around the surface normal vector. The latter prevents distortions and wrinkles of the applied tape. Experimental results with a Kuka LBR iiwa 14 R820 demonstrate the feasibility of the proposed approach.

中文翻译：

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基于曲面的路径跟随控制：弯曲带在3D对象上的应用

在本文中，提出了一种新颖的方法，用于在弯曲的3D表面上（弯曲的）预切割胶带进行通用的无皱纹粘贴。直线和弯曲的磁带施加路径分别作为测地线和具有测地线曲率的线映射到3D对象上。所提出的基于表面的路径跟随控制概念通过新颖的平行接触框架和平行投影算子扩展了经典的路径跟随控制。使用静态反馈，将机器人系统转换为在路径坐标中具有线性输入-输出行为的系统。这允许使用悬垂辊在3-D对象上遍历路径，而无需绕过表面法向矢量。后者防止了所粘贴的胶带的变形和褶皱。实验结果与久香 LBR iiwa 14 R820证明了该方法的可行性。