Research On Autonomous Interior Finishing Robot

The increasing demand for residential housing caused by the large population in China promotes the development of the construction industry,which includes interior finishing industry,one of the major industries has become.As a result,many construction companies have been trying to open the interior finishing market.Wall surface disposal as one of the most important parts of the interior finishing working procedure,also obtains high labor intensity,disunity of standard together with high tec hnique requirement as features.So far,most of the decoration work in China is completed in a workshop kind of environment,with little automation and manually accomplished significant steps,which restrict the development of the interior decoration industry.This paper is mainly about solving problems above by researching the motion control and path planning for the all finishing rob ot,as well as experimental verification design.According to the structural characteristics of the interior finishing robot,a simplified analysis of the mathematical model of the robot base has been made,and the kinematics modeling of the robot base and the robot arm has been put forward to propose a motion control scheme.MATLAB has been used to verify the robot trajectory control scheme.As the robot adjusts itself for different working stations in the process of wall surface disposal,which will takes a lot of time.Thus,it need to be determined a robot working station switching scheme to minimize the number of working stations.In this paper,the discrete points are taken as the judgement for the minimum working stations set algorithm solution;under the premise of getting the set of working stations,the next problem to be solved is to connect the working stations into a closing path and to organize.In order to take a better control of the wall surface disposal process as well as a traditional workflow accorded.In this paper,the problem of the path planning of the working stations has been equated to Traveling Salesman Problem(TSP),and Genetic Algorithm(GA))has been used to solve it.In order to accomplish the work as soon as possible and make a full use of working area,the working area is divided for different working stations.In this paper,a light and flexible polishing actuator for wall surface polishing has been designed,to work on an un-polished wall shape.Testing the robot on the wall polishing process through experiments,and verify its polishing performance.