Development of an Autonomous Sanding Robot with StructuredLight Technology Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are laborintensive, without consistent quality, and also subject to safety and health issues. While several machines have been developed to automate one or two steps in the sanding works, the autonomous capability of existing solutions is relatively low, and the human assistance or supervision is still heavily required in the calibration of target objects or the planning of robot motion and tasks. This paper presents the development of an autonomous sanding robot, which is able to perform the sanding works on an unknown object automatically, without any prior calibration or human intervention. The developed robot works as follows. First, the target object is scanned then modeled with the structuredlight camera. Second, the robot motion is planned to cover all the surfaces of the object with an optimized transition sequence. Third, the robot is controlled to perform the sanding on the object under the desired impedance model. A prototype of the sanding robot is fabricated and its performance is validated in the task of sanding a batch of wooden boxes. With sufficient degrees of freedom (DOFs) and the customization of the end effector, the developed robot is able to provide a general solution to the autonomous sanding on many other different objects.

Automatical Acquisition of Point Clouds of Construction Sites and Its Application in Autonomous Interior Finishing Robot With the rapid increase of labor costs, it is urgent to use robots to replace part of the manpower in the construction industry. To achieve highly automated interior finishing operations, robots need to be able to sense the sites to be constructed. This paper proposes a solution that allows the robot to autonomously detect the environment to be constructed. And it can also achieve quality inspection and contribute to subsequent planning. The program uses the BIM model of the building as an input and uses the FARO laser scanner as the sensor. The system can automatically select the scan station of the scanner and sequentially move to the selected scan stations to perform scanning, thereby collecting highaccuracy point clouds data at the construction site. The application of the acquired point clouds is also introduced, including the construction quality inspection and the acquisition of house models with accurate dimensional parameters.