Tool trajectory planning of painting robot and its experimental

机译：涂装机器人的刀具轨迹规划及其实验

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摘要

The automated tool trajectory planning of painting robot is still a challenging problem, especially for free-form parts. Because the current paint deposition rate function is too complicated, the paint accumulation on a surface is proposed. In order to achieve the new spraying operation standards, the paint thickness function for free-form surfaces is also given. A multi-objective constraint optimization problem is formulated. And the parallel-perpendicular case of trajectory planning for a surface with two patches is proposed. A workpiece is used to test the scheme. And the experimental results illustrate the feasibility and availability of the algorithm.

机译：喷漆机器人的自动工具轨迹规划仍然是一个具有挑战性的问题，特别是对于自由形式的零件。由于当前的涂料沉积速率函数太复杂，因此提出了涂料在表面上的积聚。为了达到新的喷涂操作标准，还给出了自由曲面的油漆厚度函数。提出了一个多目标约束优化问题。并提出了具有两个斑块的表面的轨迹规划的平行垂直情况。使用工件来测试方案。实验结果证明了该算法的可行性和实用性。

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来源
《2014 International Conference on Mechatronics and Control》|2014年|872-875|共4页
会议地点 Jinzhou(CN)
作者
Yang Tang; Wei Chen;
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作者单位

Sch. of Sci., Jiangsu Univ., Zhenjiang, China;

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会议组织
原文格式 PDF
正文语种 eng
中图分类
关键词
experiment; multi-objective constraint optimization; painting robot; tool trajectory;

机译：实验;多目标约束优化;喷涂机器人;刀具轨迹;

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专利

1. Automated tool trajectory planning of industrial robots for painting composite surfaces [J] . Heping Chen, Ning Xi The International Journal of Advanced Manufacturing Technology . 2008,第7a8期

机译：工业机器人自动喷涂复合材料表面的轨迹规划
2. Automated tool trajectory planning of industrial robots for painting composite surfaces [J] . Heping Chen, Ning Xi The International Journal of Advanced Manufacturing Technology . 2008,第7a8期

机译：工业机器人自动喷涂复合材料表面的轨迹规划
3. A new path-constrained trajectory planning strategy for spray painting robots - rev.1 [J] . Trigatti Giulio, Boscariol Paolo, Scalera Lorenzo, The International Journal of Advanced Manufacturing Technology . 2018,第9a12期

机译：喷涂机器人的新路径约束轨迹规划策略 - Rev.1
4. Tool trajectory planning of painting robot and its experimental [C] . Yang Tang, Wei Chen International Conference on Mechatronics and Control . 2014

机译：绘画机器人的刀具轨迹规划及其实验
5. Development of a CAD/CAE tool---ROBOKINE (ROBOtic KINEmatics)---for workspace, inverse kinematics and trajectory planning. [D] . Narasimhan, Mukund Venkatachari. 2002

机译：开发CAD / CAE工具-ROBOKINE（ROBOTIC KINEmatics）-用于工作空间，逆运动学和轨迹规划。
6. Surface Modeling of Workpiece and Tool Trajectory Planning for Spray Painting Robot [O] . Yang Tang, Wei Chen -1

机译：喷涂机器人的工件表面建模和刀具轨迹规划
7. Surface modeling of workpiece and tool trajectory planning for spray painting robot. [O] . Yang Tang, Wei Chen 2015

机译：喷涂机器人工件表面建模与刀具轨迹规划。
8. Experimental Study of Trajectory Planning and Control of a High Precision RobotManipulator [R] . Nguyen, C. C., Antrazi, S. S. 1991

机译：高精度机器人机器人轨迹规划与控制的实验研究

Tool trajectory planning of painting robot and its experimental

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