Tang Yang, Chen Wei
School of Science, Jiangsu University, Zhenjiang, China.
School of Electronics and Information,Jiangsu University of Science and Technology, Zhenjiang, China.
PLoS One. 2015 May 18;10(5):e0127139. doi: 10.1371/journal.pone.0127139. eCollection 2015.
Automated tool trajectory planning for spray-painting robots is still a challenging problem, especially for a large free-form surface. A grid approximation of a free-form surface is adopted in CAD modeling in this paper. A free-form surface model is approximated by a set of flat patches. We describe here an efficient and flexible tool trajectory optimization scheme using T-Bézier curves calculated in a new way from trigonometrical bases. The distance between the spray gun and the free-form surface along the normal vector is varied. Automotive body parts, which are large free-form surfaces, are used to test the scheme. The experimental results show that the trajectory planning algorithm achieves satisfactory performance. This algorithm can also be extended to other applications.
喷漆机器人的自动工具轨迹规划仍然是一个具有挑战性的问题，特别是对于大型自由曲面。本文在CAD建模中采用了自由曲面的网格近似方法。自由曲面模型由一组平面片近似表示。我们在此描述一种高效且灵活的工具轨迹优化方案，该方案使用从三角基以新方式计算的T - 贝塞尔曲线。喷枪与自由曲面沿法向量的距离是可变的。以汽车车身部件这种大型自由曲面为例对该方案进行测试。实验结果表明，轨迹规划算法具有令人满意的性能。该算法还可扩展到其他应用。
