Trajectory Planning And Optimization Of A Type Of Spraying Operation

In the modern manufacturing industry, the product performance is gradually improving as the constant improvement of technology. However, it is not enough to get more customers only by the good product performance. Now, more and more customers begin to take the product appearance into consideration. Thus, the good outside spraying quality of it is more important. As the working environment of spraying is very poor and the paint has great harm to health, so it is essential to take the auto-spraying for the most of companies. According to the product process requirement, the RBT-6T/S03 S from Jiangsu Huibo Robot Company which this paper took made the trajectory planning to the end-effector, and made it work according to the trajectory which we expected, in order to accomplish the spraying assignment to the product surface.According to the process specification of spraying work, we made the spraying equipment selection. Then, we made the simply describe to the spraying work, and ensured the finial motion trajectory of it according to the system's motion trajectory. Secondly, we made the trajectory planning to the end-effector of robot. According to the technological requirements of spraying, in order to meet the motion requirement of end spray gun's spraying work in the different working space, this paper mainly made the trajectory planning to the end spray gun in joint space and Cartesian space respectively. According to the motion trajectory and position and orientation of interpolation points which we planed before, we can transfer the interpolation points to each joint's coordinate figure in the position and orientation of Cartesian coordinates. Accomplished the building Robots kinematics model by using D-H modeling method. And through analysis to the kinematics of robot, we can get the joint variable of robot's each joints, and make the robot accomplish the spraying assignment by the planned trajectory according to the technological requirements.Lastly, this topic made the design to the system's software on the basis of VC++6.0 development platform, and made the introduction to each sub-modules of system, then introduced system's initialization, back to zero movement and spraying work movement module in detail, and provided the source code of part procedure.