Optimal Control Method Research Of Trajectory Planning Of Robot Based On Ship Coating And Polishing

China’s shipbuilding industry which needs a high level on industry automation is undergoing a period of rapid development. Ship coating and secondary grinding derusting are deemed as the core technology and trade secret in the area of ship industry. On the basis of these reasons, Shanghai Waigaoqiao Shipbuilding Corporation unified Shanghai Electrical Automation Design Institute to undertake one project to have research on ship coating and polishing of robot. This paper is written under the background of this project to study trajectory planning and control system of robot, which has a far-reaching meaning.Trajectory planning of robot is the underlying programming and based on mechanical structure to research the trajectory and methods of trajectory planning during the motion process of robot. Firstly, three common methods on trajectory planning of robot were described; they were cubic polynomial interpolation function, high order polynomial interpolation function and parabolic connection of linear interpolation function. Connected with these three methods, this project has adopted three motion patterns: point motion model, PT continuous motion model and interpolation motion model and then forward preprocessing model was taken. Secondly, under the guidance of simple trajectory planning methods,cubic spline interpolation method was introduced and then trajectory fitting was used by combining formation of a quadratic polynomial and triangle cosine function.Last, the sample machine was researched, designed and experimented including the design of structure, control system, hardware system and software system. So they paved the way for sample robot making whichwill be filled in the domestic blank at the area of ship coating and polishing.