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 identification, an interactive voice-controlled wizard system
for the AI-assisted bootstrapping and parameterization of robot programs, and
an automatic planning and execution pipeline for force-controlled robotic
surface treatment. RoboGrind is evaluated both under laboratory and real-world
conditions in the context of refabricating fiberglass wind turbine blades.

RoboGrind 是一个集成系统，用于直观、交互式地自动化处理工业机器人表面处理任务。它结合了先进的三维感知管道，用于表面扫描和自动缺陷识别，以及基于人工智能的语音控制向导系统，用于机器人程序的辅助引导和参数化，并具备力控制的自动规划和执行管道，用于机器人表面处理任务。在重构玻璃纤维风力涡轮机叶片的上下文中，在实验室和实际环境下对 RoboGrind 进行了评估。