Robotic Sculpting with Collision-free Motion Planning in Voxel Space

11/17/2019

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by   Abhinav Jain, et al.

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In this paper, we explore the task of robot sculpting. We propose a search based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. We generate collision free trajectories for a manipulator using best-first search in voxel space. We also show significant speedup of our algorithm by using octrees to decompose the voxel space. We demonstrate our algorithm on a multi-axis manipulator in simulation by sculpting Michelangelo's Statue of David, evaluate certain metrics of our algorithm and discuss future goals for the project.