Trajectory Generation of Spray Painting Robot Using Point Cloud Slicing

摘要：

　　In the trajectory planning process of spray painting robot,an approach to automatic trajectory generation of spray gun using point cloud slicing is presented.Firstly,the point cloud data is obtained by scanning the surface of the workpiece.After the uniform slicing of point cloud model,the spraying position is determined by the average sampling of cross-section contours.Then the normal vectors of the sampling points are estimated.Finally the trajectory of spray gun is generated by offsetting the sampling points along their normal vectors.Experimental results show that the method has good feasibility and effectiveness.The spraying trajectory,direction and distance of spray gun can be controlled accurately,thus the spraying quality and efficiency are improved.

关键词： Spray Painting Robot Point Cloud Slicing Normal Vector Trajectory Generation

作者: Mingzhu Li Zhangping Lu Chunfa Sha Liqing Huang

作者单位: School of Mechanical Engineering, Jiangsu University, Zhenjiang, Jiangsu, 212013, China ;School of A School of Mechanical Engineering, Jiangsu University, Zhenjiang, Jiangsu, 212013, China School of Art, Jiangsu University, Zhenjiang, Jiangsu, 212013, China

会议类型: 国际会议

会议名称: the 2010 International Conference on Frontiers of Manufacturing and Design Science(第一届制造与设计科学国际会议(ICFMD 2010))

会议地点: 重庆

会议语种:英文

页码: 1290-1294

在线出版日期: 2010-12-11（万方平台首次上网日期，不代表论文的发表时间）