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

被引：37
|
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
相关论文
共 50 条
  • [1] Point cloud modeling and slicing algorithm for trajectory planning of spray painting robot
    Yu, Xinyi
    Cheng, Zhaoying
    Zhang, Yikai
    Ou, Linlin
    ROBOTICA, 2021, 39 (12) : 2246 - 2267
  • [2] Trajectory Generation of Spray Painting Robot Using Point Cloud Slicing
    Li, Mingzhu
    Lu, Zhangping
    Sha, Chunfa
    Huang, Liqing
    FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE, PTS 1-4, 2011, 44-47 : 1290 - +
  • [3] A New Point Cloud Slicing based Path Planning Algorithm for Robotic Spray Painting
    Wang, Guolei
    Cheng, Jianhui
    Li, Ronghua
    Chen, Ken
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 1717 - 1722
  • [4] Autonomous Trajectory Planning for Spray Painting on Complex Surfaces Based on a Point Cloud Model
    Bastida, Saul Nieto
    Lin, Chyi-Yeu
    SENSORS, 2023, 23 (24)
  • [5] Trajectory Planning for Digital Camouflage Spray Painting Robot Based on Projection Method
    Zhang Xutang
    Shi Wen
    Wang Bohao
    Li Jianming
    Zhang Ling
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT I, 2019, 11740 : 221 - 230
  • [6] Trajectory optimization of spray painting robot based on CAD
    Li F.
    Zhao D.
    Zhang C.
    Ji W.
    Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery, 2010, 41 (05): : 213 - 217
  • [7] A Novel Trajectory Planning Scheme for Spray Painting Robot with Bezier Curves
    Chen, Wei
    Tang, Yang
    Zhao, Qiang
    PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 6746 - 6750
  • [8] Surface Modeling of Workpiece and Tool Trajectory Planning for Spray Painting Robot
    Tang, Yang
    Chen, Wei
    PLOS ONE, 2015, 10 (05):
  • [9] Robot spray painting trajectory optimization
    Gleeson, Daniel
    Jakobsson, Stefan
    Salman, Raad
    Sandgren, Niklas
    Edelvik, Fredrik
    Carlson, Johan S.
    Lennartson, Bengt
    2020 IEEE 16TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), 2020, : 1135 - 1140
  • [10] Automated robot trajectory planning for double-layer spray painting based on genetic algorithm
    Lu X.
    Tang Q.
    Jiang M.
    Xiong H.
    Song J.
    Huang Y.
    Tang, Qian (tqcqu@cqu.edu.cn), 2018, CIMS (24): : 2157 - 2167
12345