计算技术与自动化2023，Vol.42Issue(4)：14-19,6.DOI:10.16339/j.cnki.jsjsyzdh.202304003
采用示教杆的机器人喷涂轨迹生成方法研究
Research on Robot Spray Trajectory Generation Method Using Teaching Rod
摘要
Abstract
To meet the requirement of rapid acquisition of robot spraying trajectory for local surface of automobile,the paper proposes a robotic solution to generate spraying trajectory using teaching rod.The proposed method designs the teach-ing rod which 1∶1 duplicates industrial robot D-H model parameters and established generation model of the spray trajecto-ry path points and pose based on B-spline surface algorithm.Taking the automobile fender and door as an example,the teaching rod is used to acquire the surface contour points and generate the path pose,and the 5kg load cooperative robot is used for operation test.The physical test results show that the proposed method can achieve the rapid acquisition of the tar-get spray area trajectory and the feasibility of the method is validated.关键词
喷涂轨迹/工业机器人/示教杆/B样条曲面Key words
spray trajectory/industrial robot/teaching rod/B-spline surface分类
信息技术与安全科学引用本文复制引用
万燕英,莫玉梅,郭清达..采用示教杆的机器人喷涂轨迹生成方法研究[J].计算技术与自动化,2023,42(4):14-19,6.基金项目
广东省教育厅科研项目(2021KQNCX202) （2021KQNCX202）
