Optimal Trajectory Planning Problems For Spray Coating

This thesis is undertaken on the optimal trajectory planning problems for spray coating. The objective of the optimal trajectory planning problems is to determine a trajectory that results in minimal variation in accumulated film thickness on the surface of a workpiece.Firstly, the paper expounds the reason why study the off-line program system for painting robot, its development process and possible tendency. After analyzing the importance of the paint thickness and well-distribution on the workpiece surface, the Optimal Trajectory Planning Problems(OTPP)is put forward, which is how to find out a trajectory which results in minimal variation in accumulated film thickness on the surface of a workpiece while the paint thickness on the workpiece surface reach a certain characteristic and it is kept uniform (well-distributed).Then, According to the procedure of the general optimal problem, this paper develops mathematical models for OTPP, settles its objective function and constrains and divides OTPP into practical constrains OTPP and OTPP along a specified spatial path, elaborates the concrete solutions to these two OTPP. We often use general discretization and substition discretization, which usually leads to nonlinear programming problems.This paper simulates the situation on a square plane surface, cylider surface and cone surface of a workpiece to explain OTPP and its solutions furtherly. Given a specified spatial path and the rate of accumulation function( finite-range type distribution and Beta distribution), Some results are obtained by using general non-linear programming method. These results include average velocity trajectory and optimal trajectory and demonstrate the feasibility of these method . At last, a fundamental scheme is put forward with regard to irregular curve surface used in the auto industry and airplane industry, such as the Bézier curve surface.