Development And Research Of Five-axis Robot Spraying Control System Based On Pose Recognition

As industrial robotics technology matures,the use of spray-painting by industrial robot can not only avoid the harm of spraying to staff,but also improve the efficiency of spraying.At the same time,it comes out with the same effect on the sprayed surface,instead of uneven thickness as manual spraying.Although more and more industrial robots are used for spraying in modern spraying industry.it also has shortcomings,so a machine that can reproduce the spraying trajectory better is in desperate need.The main research work and contents of this paper include:According to the requirement of spraying,the mechanical structure of spraying robot is designed and introduced by SolidWorks.The forward and inverse kinematics of the spraying manipulator are obtained by kinematics analysis which is based on D-H rule,MATLAB robot toolbox for the rear three axis modeling and checking the positive and negative solutions.Then the control environment is built according to the spraying manipulator,and the motion card,servo motor driver and sensor needed for control are selected.Taking single axis as an example,its work control flow is introduced.The subject achieves the purpose of repeating the teaching track at the end of five-axis spraying robot spray gun by using LabVIEW to write program to control each motor.In order to reproduce the teaching trajectory,comb the spraying process of the whole manipulator,that is,to complete the steps of reproducing spraying,and attach the procedures that need to be written to complete each step.At the same time,basic preparation for spraying is done,realize the function of motor control,check the status of each axis and set the limit position.The main characteristics and key technology of this project are to propose the modular control thinking,realize different module functions for different spraying steps,flexibly control and optimize the robot spraying trajectory,and the control system automatically generates the corrected spraying trajectory for each spraying workpiece.Fuzzy PID is proposed to smooth its teaching trajectory for reproduction and automatically adjust the PID value to fit its trajectory.The following function and motion interpolation function are added.The linear and circular interpolation planning method is introduced to re-plan the acceleration and speed of the robot.In order to put forward a new theory,the rotation operator of XYZ is used to calculate the pose matrix,and the Cartesian coordinate system in static teaching is transformed into the offset coordinate system,and the new curve is calculated and reproduced.This subject is mainly about reprograming and controlling the robot's to reproduce the spraying trajectory by combining the acquired manual teaching data with the real-time pose recognition data of the workpiece.It makes the manual teaching spraying workpiece as same as the robot repeating spraying workpiece as possible,solves the problem of flexible control,and makes the spraying robot suitable for replacing frequently spraying workpiece.At the same time,a finished six-axis manipulator is redeveloped.and the method of applying position recognition spraying system to other manipulators is proposed.The XYZ angle in the common teaching trajectory is converted into ZYZ Euler angle.Comparing it with the five-axis spraying robot,the advantages and disadvantages and irreplaceable of the five-axis spraying robot designed in this topic are clarified.Experiments are designed to verify whether the functions of each module in the system can achieve the corresponding goals and accuracy.The experiments of robot repetitive accuracy,PID trajectory control,repetitive accuracy and pose recognition are carried out.The final effect of film thickness is proposed for verification to verify the correctness of the algorithm and the feasibility of re-planning the innovation of combining the artificial teaching data with the real-time pose recognition data of the workpiece.