Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique

被引：31
|
作者：
Chen, Wei [1 ,2 ]
Li, Xu [1 ]
Ge, Huilin [1 ]
Wang, Lei [1 ]
Zhang, Yuhang [1 ]
机构：
[1] Jiangsu Univ Sci & Technol, Sch Elect & Informat, Zhenjiang 212003, Jiangsu, Peoples R China
[2] Southeast Univ, Sch Automat, Nanjing 210096, Peoples R China
来源：
ELECTRONICS | 2020年 / 9卷 / 06期
基金：
中国国家自然科学基金;
关键词：
point cloud slicing; surface modeling; trajectory planning; electrostatic spray painting; TOOL;
D O I：
10.3390/electronics9060908
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, aiming at the problem of poor quality and low spraying efficiency of irregular for complex freeform surfaces, a new spray painting robot trajectory planning method based on point cloud slicing technology is proposed. Firstly, the point cloud data of the workpiece to be sprayed is obtained by laser scanning. The point cloud data is processed to obtain the point cloud model of the sprayed workpiece. Then the section polysemy line is obtained after slice acquisition and section data processing of the point cloud model. The section polysemy line is sampled on average, and the normal vector of all sampling points is estimated. Finally, interpolation algorithm is used to connect the data points to obtain the space trajectory of spraying robot. In addition, the droplet trajectory model for electrostatic spray painting is established. The experimental results show that the method fully meets the requirements of coating thickness and improves the spraying efficiency and uniformity of coating.
引用
收藏
页数：18
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