自由曲面上喷涂机器人喷枪轨迹规划方法研究

Research on Trajectory Planning of Spray Gun of Painting Robot on Free-form Surface

提出了一种自由曲面上的涂层生长模型及喷涂机器人喷枪轨迹规划方法,选取时间和涂层厚度作为优化目标,寻找喷枪沿指定路径的最优时间序列,通过求解带约束条件的多目标优化问题,找到了一条能使工件表面上涂层厚度方差最小且喷涂时间最短的喷枪轨迹。本文的优化方法将最优变量个数从一般喷枪轨迹规划问题中的6个(代表喷枪的位姿)减少为1个,从而大大简化了问题的复杂性。

The trajectory planning method of the robotic spray painting with a coating growth model is proposed. The time and the coating thickness are selected as the optimization object, and the optimized time series about the spray gun working on the designated path are searched. By solving the constrained multi-object optimization problem,the optimized path of the spray gun is found. It can minimize the variance of the coating thickness and the time of the spray painting. The optimization method can decrease the number of optimization variables that represent the posture of the spray gun in the trajectory planning problem from 6 to 1. As a result, lexity of the optimization problem is greatly predigested.