Painting Task Planning for Large Structure using a Mobile Manipulator

Painting a large structure with a robotic arm that is fixed to the ground is difficult due to its limited reachable range.To plan the robotic painting motion of such a large structure, we develop a robotic software system assuming a mobile manipulator to explore the environment using SLAM.Our software system includes both detection of AR markers and construction of the environmental map to determine the painting location.It can measure the error in self-position estimation that occurs during the movement.It can also generate spray trajectories for the recognized painting location and control the whole body using Model Predictive Control (MPC) to perform painting over a wide area.