基于点云处理技术的喷涂机器人喷枪轨迹生成研究

摘要

That point cloud data is used a the data formats ofsprayingpainting robot path planning is put forward.The point cloud data processing technology is used to generate spraying robot path,which includes point cloud preprocessing、region segmentation、point cloud slicing、acquiring the normal vectors of the sampled points、the sampled points offsetting and so on. The point cloud data processing technology is used to spraying robot trajectory planning,point cloud segmentation make its features clear and reduce the complexity of spraying process,it can control the position of spraying gun well and also improve quality and efficiency of spraying%提出了以点云数据作为喷涂机器人轨迹生成的数据格式,采用点云处理技术,通过对点云的预处理、区域分割,点云切片、采样点求取法矢量及沿法矢量方向偏移等方法实现了喷涂机器人轨迹的生成.将点云技术运用到喷涂机器人轨迹规划,通过点云区域分割细化了点云特征,降低了喷涂工艺的复杂性,同时很好的控制喷枪的位置,提高了喷涂的质量和效率.