Research On Trajectory Planning System Of Spray Painting Robot

Unlike other industrial robots, spary painting robot has more complex mechanical structure, more specific application function and more accuracy in targrt tracking which make it more difficult to design spray painting robot. The trajectory planning system this paper focuses on is an pivotal part in the application layer software of spray painting robot, purposing to plan a collision free trajectory for sparying operations which consides structure and task characteristics while offline.Before the design, the exponential product formula is used to model the forward kinematics of the spray painting robot. Then, the kinematic model is used to simulate the robot workspace and articulation for the subsequent work.Next, this paper makes a deep research on the inverse kinematic problem of spray painting robot. For the analytic solutions, a new approach is presented for analysing the inverse kinematic problems by the view of combining the change of position and direction. For the numerical solutions, a new idea is put forward based on the nonlinear least squares problem. Further, a numerical algorithm which takes the approximate analytic solution as the initial value is designed.Then, the research is divided into two parts. The first one is for the clustering algorithm. In this part, a kind of improved ISODATA algorithm for this subject basing on the analysis of AGNES and DIANA is put forward. The second one is for obstacle avoidance algorithm. Considering the multidimensional characteristics of spary painting robot, the strategy basing on sampling is adopted. According to analyse the standard RRT algorithm and RRT* algorithm, a kind of optimization strategy for search tree’s growth is proposed, and the increase of post processing function is mentioned.The program is finished in VC++ 6.0 with the application of MFC. The simulation of the trajectory is based on ABB’s Robotstudio. And finially the feasibility of the trajectory planning system is verified.