A control method for automatic generation system of robot spraying trajectory
A technology of automatic generation and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems affecting product production efficiency, low spraying processing efficiency, complicated operation, etc., to shorten the time-consuming, High degree of automation, the effect of reducing the difficulty of operation
Active Publication Date: 2017-11-21
希美埃(芜湖)机器人技术有限公司
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Problems solved by technology
This method is complicated to operate, requires high professional skills for the operator, and has poor flexibility. After the workpiece is replaced, a new set of trajectory programs must be reprogrammed. The operation is extremely cumbersome and time-consuming, which makes the spraying process less efficient. Affect the production efficiency of the product
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Embodiment Construction
[0020] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the following will be described in detail in conjunction with preferred embodiments, and the present invention will be further described, so as to facilitate the understanding of technical personnel.
[0021] A control method for a robot spraying track automatic generation system, comprising the following steps:
[0022] (1) Formation of spraying process expert system: Based on long-term spraying project experience and data, a set of spraying process expert system is formed, and the spraying process expert system is integrated on the computer;
[0023] (2) Workpiece image data input: the visual system of various workpiece image acquisition forms obtains the image data of the workpiece in a fixed or mobile form, and transmits it to the spraying process expert system;
[0024] (3) The spraying process expert system performs image processing, automatically generate...
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The invention discloses a control method for a robot spraying track automatic generation system, which comprises the following steps: (1) forming a spraying process expert system; (2) inputting workpiece image data; (3) performing image processing by the spraying process expert system, geometrically The graphics are detected and sent to the trajectory mapping module, and the trajectory is automatically generated by the automatic trajectory generator; (4) Automatic trajectory generation; (5) Parameter setting; (6) Spline algorithm to achieve constant speed and high smoothness; (7) The robot controller forms the final trajectory by kinematically solving the spline. The invention has the advantages of high degree of automation, high processing precision and wide application, and can realize the automatic generation of spraying trajectories of different workpieces, shortening the time spent on spraying and processing, and can be used in the case of deviations in the placement of workpieces, mixed placement of different types of workpieces, etc. Can automatically generate spraying trajectory, which greatly improves the processing efficiency.
Description
technical field [0001] The invention relates to the technical field of industrial robot spraying processing, in particular to a control method for a robot spraying track automatic generation system. Background technique [0002] With the development and application of robot technology, robots are more and more widely used in the spraying industry. During the spraying process, the spraying trajectory of the robot and the relevant parameter settings on the spraying point determine the quality of the spraying, and the generation method of the spraying path of the robot is generally It is completed by the debugging personnel according to the 3D drawing of the workpiece to be sprayed and the point-to-point programming debugging on site. This method is complicated to operate, requires high professional skills for the operator, and has poor flexibility. After the workpiece is replaced, a new set of trajectory programs must be reprogrammed. The operation is extremely cumbersome and ...
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IPC IPC(8): G05B13/04
Inventor 米凯拉·比亚索尼塞尔乔·德拉·梅亚马可·扎诺尔
Owner 希美埃(芜湖)机器人技术有限公司