Research On Motion Control Technology Of Wall-painting Robot Based On Laser Sensor

At present,the domestic wall spraying industry mostly adopts the manual spraying method with low spraying efficiency,which has a large labor intensity,severely restricts the spraying efficiency,and causes problems such as waste of paint and high cost.The use of spraying robots to perform spraying work in harsh environments greatly improves spraying efficiency and spraying quality.Based on the above problems,this paper designs a laser sensor-based automatic spraying system,establishes a three-dimensional model based on the robot parameters,analyzes the structure and motion problems of the robot,and uses MATLAB to complete the trajectory planning simulation and complete the predetermined trajectory motion control.Study the related problems of wall point cloud data extraction and processing,and use the voxelization noise reduction algorithm to optimize the obtained point cloud data;use Cloud Compare and Labview software to design algorithm software suitable for this spraying system,to achieve The extraction and visualization of the normal vector on the wall provides a reliable guarantee for the trajectory planning of the robot.In-depth study of robot kinematics,complete the establishment of robot mathematical models based on the robot's structural principles and DH modeling methods;use MATLAB to simulate robot forward and inverse kinematics algorithms,and verify their correctness;use robot joint space trajectories The planning method obtains the trajectory of the robot end,and the simulation curve of each joint amount of the robot,and verifies the effectiveness of the robot trajectory planning algorithm.Establish a coating thickness model for a flat wall surface;analyze the process of robotic spraying,and determine the spray coating solution that saves the most paint under the same spraying area.In order to ensure the uniformity of the coating,a cumulative coating thickness function is established to determine the coating thickness.Optimum layer thickness and paint spray diameter.The robot motion control method is researched,and an algorithm combining adaptive motion control and sliding mode variable structure control is proposed,and simulation is performed through MATLAB to verify the effectiveness of the sliding mode variable structure control algorithm based on adaptive adjustment;Machine vision was introduced into the robot's spraying system.The wall spraying system workstation was constructed using robo DK software,the wall simulation body was designed,the spraying process wassimulated by software programming,and the feasibility and effectiveness of the wall spraying system was verified.