Trajectory Planning Of Glazing Robot

Glazing is a key link in ceramic production,to liberate people from hostile environment by improving the quality of ceramic product and utilization ratio of glaze, and by enhancing the automation standard in glazing link, the gun trajectory generation and optimization of glazing robot is studied in this paper.First, visualization of STL model processed by topology and reconstruction is studied in this paper, on the basis of OpenGL technology, STL model read and shown by programming, the translation and rotation of STL model realized by calling translation and rotation function in OpenGL, which lay the foundation of proper slicing STL model.Then, based on existed method of STL model slicing, a new method of slicing is approached according to the storage characteristics of tri patches in STL model to finish STL model slicing and get the points of intersection of tangent plane and tri patches and the outlines of cross sections.Then the normal vectors of points of intersections are established on that basis, the gun trajectory of glazing robot is obtained though offsetting the Method vector directions of the points of intersections.Afterwards, borrowing ideas from the existed coating thickness models and existed gun trajectory optimization method, the"bounding box"is used creatively in STL model slicing, combining generated gun space route, each short path of gun trajectory through each sippet is chosed as optimal object, and a short path of the gun trajectory is optimized using the method of Weighted infinite norm ideal point.Finally, the system of generating gun trajectory of glazing robot is structured and the gun trajectory planning method introduced in this paper is verified through examples.