Big Articulated Stenciling Robot (BASR). Volume 1

摘要

This report provides a description of the Big Articulated Stenciling Robot (BASR)that was developed at the University of California at Davis under contract to the California Department of Transportation (Caltrans). This system is designed to paint markings on the roadway pavement with a primary emphasis on increasing highway worker safety by keeping personnel out of unprotected roadway areas. The system is completely integrated, with all normal operations controlled from a single control panel. Overall system descriptions are given in this report. Furthermore, detail design and operational descriptions are given. The report is contained in four (4) volumes, with each volume providing complete details of specific aspects about BASR. Volume I contains introductory material, theory of operation, system schematics, and source code listings. Volume II is a copy of Robert Olshausen's 1996 U.C. Davis Master's Thesis, 'Development of an Articulating Robotic Arm for Spray Painting on Roadways'. Volume III is a copy of Richard A McGrew's 1996 U.C. Davis Master's Thesis, 'A Robotic End-Effector for Roadway Stenciling'. Volume IV is a copy of Richard Blank's 1996 U.C. Davis Master's Thesis, 'Algorithms and Robotic Hardware Improvements for Painting of Roadway Markings'.