Robot trajectory optimization method and device for wood spray coating industry
A trajectory optimization, robot technology, applied in the field of robots, can solve the problems of worker poisoning, a lot of manpower and material resources, manual planning, etc., to achieve the effect of improving spraying quality and reducing processing time
Inactive Publication Date: 2018-06-15
GUANGDONG UNIV OF TECH
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Problems solved by technology
[0005] The invention provides a robot trajectory optimization method and device used in the wood spraying industry, which solves the problem that the spraying effect of the manual teaching method depends on the experience of the workers, a large amount of manpower and material resources are required for the test, and the workers are still in an environment poisoned by paint And point-to-point programming refers to the technical problem that programmers manually plan the spraying trajectory
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[0065] The embodiment of the present invention provides a robot trajectory optimization method and device used in the wood spraying industry, which solves the problem that the spraying effect of the manual teaching method depends on the experience of the workers, a large amount of manpower and material resources are required for the test, and the workers are still poisoned by the paint. In-environment and point-to-point programming refers to the technical problem of manual planning of spraying trajectory by programmers.
[0066] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments ...
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The embodiment of the invention discloses a robot trajectory optimization method and device for the wood spray coating industry. The method includes the steps that 101, point cloud data of wood is acquired; 102, parameters of a spray coating workpiece are acquired, and a preset distance h of the spray coating workpiece above the wood is determined; 103, according to the parameters of the spray coating workpiece and the preset distance h, the coating accumulation rate of the spray coating workpiece on the wood is calculated through a preset first formula shown in the description, wherein R is the spray coating radius, A is a constant, and r is the distance from an arbitrary point s on the plane to the central projection point of the spray coating workpiece in the spraying direction; 104, according to the coating accumulation rate of the spray coating workpiece on the wood, the width of a coating overlapping region of two adjacent spray coating strokes is determined to obtain the interval of the two adjacent spray coating strokes; 105, according to the interval of the two adjacent spray coating strokes, a robot movement trajectory based on the N shape is generated.
Description
technical field [0001] The invention relates to the technical field of robot trajectory optimization, in particular to a robot trajectory optimization method, device and robot used in the wood spraying industry. Background technique [0002] As an important application field in the robot spraying industry, the trajectory optimization of wood spraying robots has attracted extensive attention from researchers in the industrial control industry. As the core content of the robot spraying industry, the optimization of the trajectory of the spraying robot has always been a part of great research significance for the accuracy, stability, rationality, and versatility of its trajectory, in order to improve production efficiency, spraying quality, and improve workers' working conditions. have played a key role. As countries around the world pay more and more attention to the automation needs of spraying robots, the spraying effect of spraying robots is related to many factors such as...
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Login to View More IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 黄小桐宋亚男徐荣华
Owner GUANGDONG UNIV OF TECH