Trajectory Planning Method of Redundant Robot for Spraying the Inner Surface

摘要

The paper introduces the trajectory planning of redundant robots, and conducts to provide an automatic solution for spraying the inner surface of curved pipes in aviation industry. The method of trajectory planning is obtained by solving the inverse kinematics of a redundant robot based on its kinematic model and the constraints of complex inner surface and joint speed. The method can provide collision-free trajectories in simulation. The trajectories can also enable a redundant robot to complete spraying tasks without any collisions in practice. Both thickness and uniformity of coating meet the standard technical requirements.