Trajectory Planning and Optimal Method of Spray Manipulator for Furniture Surface Painting

摘要：

In this paper, we develop a robot manipulator for furniture coating and present robot manipulator composition and kinematic theory, we give the method to obtain the optimal path of applicator on a plane and two intersecting plane respectively on the basic of applying overlap distance and applicator velocity to solve optimize trajectory problem, we make further consideration for the effect of the spray deposition rate on the applicator moving velocity. To test the effectiveness and prove the rationality. The process that robot manipulator moving in three dimensions was simulated on the Robotics Toolbox of matlab. The results appeared that the robot manipulator moving on the planned path is correct and feasible.

作者: Yaqiu LIU Jianhua TENG Wenlong SONG

作者单位: Northeast Forestry University, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）