A method of robot spraying trajectory generation based on ros platform

A trajectory generation, robot technology, applied in the direction of instruments, simulators, computer control, etc., can solve the problem of low degree of automation, achieve the effect of less manual participation, easy modification, and lower R&D costs

Active Publication Date: 2020-05-12
WUHU HIT ROBOT TECH RES INST
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Problems solved by technology

[0003] The embodiment of the present invention provides a method for generating robot spraying trajectories based on the ROS platform, aiming to solve the problem that the existing off-line programming method is used to obtain the spraying trajectories, and the degree of automation is not high

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  • A method of robot spraying trajectory generation based on ros platform
  • A method of robot spraying trajectory generation based on ros platform
  • A method of robot spraying trajectory generation based on ros platform

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Embodiment Construction

[0053] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0054] figure 1 The flowchart of the method for generating the robot spraying trajectory based on the ROS platform provided by the embodiment of the present invention, the method includes the following steps:

[0055] S1, import the stl model of the workpiece into the Rviz software, read the triangular mesh information in the stl model, and the triangular mesh information includes vertex coordinates and corresponding normal vectors;

[0056] S2. Segment the stl model into n regions based on the continuity between the triangle faces;

[0057] Since the stl model cannot extract the edge and surface...

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Abstract

The invention is applicable to the technical field of robot spraying, and provides a robot spraying trajectory generating method based on an ROS platform. The method includes the following steps of reading triangular mesh information in an stl model, conducting region segmentation on the stl model on the basis of the continuity among triangular patches, connecting the designated adjacent segmentedregions into a spraying assembly, obtaining the minimum bounding box of the spraying assembly, generating a group of planer clusters parallel to a calibrating face with any section of the minimum bounding box as the calibrating face, sequentially obtaining the intersection points of all planes and triangular mesh of the spraying assembly, sequentially connecting the intersection points to form spraying routes, adding trajectory points to reverse extension cords of the two ends of each spraying route respectively, and connecting the trajectory point of the tail end of the front spraying routewith the trajectory point of the head end of the rear spraying route through a straight line. By means of the spraying trajectory generating method, the robot spraying trajectory can be automaticallygenerated only by manually setting part of parameters, the automation degree is high, and work efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of robot spraying, and provides a method for generating a robot spraying trajectory based on a ROS platform. Background technique [0002] At present, robots have been widely used in the spraying industry. There are two main ways to use robots for spraying operations to generate robot spraying trajectories: online teaching and offline programming. The traditional online teaching method, that is, the operator specifies the trajectory of the robot by dragging the robotic arm, not only takes up a lot of manpower and material resources, but also has problems such as low efficiency, time-consuming, poor accuracy, and insufficient safety. At the same time, when the sprayed workpiece is changed, it is necessary to teach the new workpiece again. This is very unfavorable for those enterprises that produce small batches and many varieties of workpieces, especially some small and medium-sized enterprises with limited...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/408
CPCG05B19/4086G05B2219/35356Y02P90/02
Inventor 林雅云
Owner WUHU HIT ROBOT TECH RES INST
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