摘要
根据喷漆机器人自动轨迹生成系统的组成与结构,提出了针对家具喷涂的喷漆机器人喷枪轨迹的设计方案。该方案以使家具表面漆膜厚度差达到最小为设计目标,在喷枪方向及空间路径为已知和未知两种条件下,分别给出了沿指定空间路径和基于自由表面的喷枪最优轨迹的求解方法,以解决喷漆机器人喷枪最优轨迹的规划问题。
This paper presents an automatic trajectory planning system for spray painting robots.Theminimum variation of the accumulated film thickness is used as the design goal. The problems of optimal trajectory planning are solved for conditions under which the spray gun direction and the spatial way are known or unknown.
出处
《自动化技术与应用》
2007年第2期16-19,共4页
Techniques of Automation and Applications
关键词
喷漆机器人
家具喷涂
路径规划
轨迹优化
pray painting robot
furniture spray paint
path planning
optimal trajectory
