喷涂机器人的喷涂轨迹规划OA
Trajectory Planning of Spray Painting Robots
为了解决喷涂机器人喷涂作业后涂料不均匀堆积问题,在平面静态喷涂模型的基础上,提出了一种面向复杂曲面的喷涂机器人轨迹规划方法.首先通过椭圆双 β 喷涂模型,在一定条件下计算出了平面喷涂中相邻轨迹涂层的最佳重叠距离;在平面喷涂的基础上,分析了平面喷涂与复杂表面喷涂的映射关系;然后通过最小二乘自然二次曲面拟合的方法将复杂曲面拟合成规则的圆形曲面;最后通过多段分割曲线逼近目标函数,找到了复杂曲面上相邻两条路径之间的最优区间设计方法.结果表明,该方法为解决…查看全部>>
To solve the problem of non-uniform deposition of painting after spraying operations of spray robots, a trajectory planning method for spray robots facing complex surfaces was designed based on flat static spraying model. First, the overlap value of adjacent tracks was calculated at about 80 mm in plane spraying coating by using the ellipse dual- β spraying model. Second, the mapping relationship between plane spraying and complex surface spraying was analyz…查看全部>>
潘洋;冉全;邹梦麒
武汉工程大学计算机科学与工程学院,湖北 武汉 30205武汉工程大学计算机科学与工程学院,湖北 武汉 30205中国矿业大学机电工程学院,江苏 徐州 221116
信息技术与安全科学
喷涂机器人轨迹规划椭圆双 β分布模型最小二乘自然二次曲面拟合法
spray painting robottrajectory planningellipse dual- β spraying modelleast squares natural quadric fitting method
《武汉工程大学学报》 2018 (3)
333-339,7
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