The Trajectory Planning And Control Of Painting Robot

Spraying robot is an advanced automatic production equipment for spraying. At presentin China, spraying operations mainly done manually and the quality is also affected byspraying degree of skilled technical workers. Spraying operations environment is veryharsh, and has a great impact on people’s health. Not only in order to improve theproduction efficiency, but also for workers’ health, automation of spraying is imperative.This paper through in-depth study and system requirement analysis of the sprayingprocess, planning the spraying trajectory of security doors and door frames, and through thespace transformation to finish the transition of spray gun trajectory to the joint trajectory.This major consists of the following parts:The first part researches and designs the spraying robot trajectory planning and controlsystem framework,and several key technical requirements are proposed.The second part is spraying robot trajectory planning. Building a mathematical modelof the paint thickness,determine the spraying uniformity of spraying distance; Comparedthe two ways of spraying uniformity, and the simulation experiment was carriedout to them;The spraying trajectory is divided into standard component unit, at the same time alsoplanning and simulation of the trajectory of security doors and door frames.The third part is spraying trajectory space transformation. Research and analysis thespatial structure of robot, then based on the mechanical structure, established linkagecoordinate schematic of the painting robot to solve robot kinematics and verify itscorrectness. Transforming the key point to each joint axis of the robot by space convert toachieve painting space conversion.The fourth part is the security door and door frame of trajectory simulation, and themovement of each joint axis are simulated,especially wrist control were studied.