Development of an automatic trajectory planning system (ATPS) forspray painting robots

摘要

An automatic trajectory planning system (ATPS) for painting robotsis developed. Geometric modeling, painting mechanics, and robot dynamicsare considered to produce an optimal trajectory (in the sense of coatinguniformity and painting time) based on the CAD data describing the shapeof objects. The scheme was implemented on a SUN/4 workstation to developan ATPS for painting robots. To test the effectiveness and illustratethe developed system, numerous experiments were performed and analyzed.The practical application of the developed system is for planning anoptimal robot trajectory such that uniform coating thickness is achievedin minimum painting time