Trajectory planning method based on transitional segment optimization of spray painting robot on complex-free surface

2019 ◽  
Vol 46 (1) ◽  
pp. 31-43 ◽  
Author(s):  
Liwen Guan ◽  
Lu Chen
Keyword(s):  
Free Surface ◽  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Trajectory Generation ◽  
Distribution Model ◽  
Optimization Approach ◽  
Spray Painting ◽  
Content Type ◽  
Normal Vectors ◽  
Paint Thickness

Purpose This paper aims to present a new trajectory optimization approach targeting spray painting applications that satisfies the paint thickness requirements of complex-free surfaces. Design/methodology/approach In this paper, a new trajectory generation approach is developed to optimize the transitional segments at the junction of adjacent patches for straight line, convex arc and concave arc combinations based on different angles between normal vectors of patches. In addition, the paint parameters including the paint gun velocity, spray height and the distance between adjacent trajectories have been determined in the generation approach. Then a thickness distribution model is established to simulate the effectiveness of trajectory planning. Findings The developed approach was applied to a complex-free surface of various curvatures, and the analysis results of the trajectory optimization show that adopting different transitional segment according to the angle between normal vectors can obtain the optimal trajectory. Based on the simulation and experimental validation results, the proposed approach is effective at improving paint thickness uniformity, and the obtained results are consistent with the simulation results, meaning that the simulation model can be used to predict the actual paint performance. Originality/value This paper discusses a new trajectory generation approach to decrease the thickness error values to satisfy spray paint requirements. According to the successfully performed simulation and experimental results, the approach is useful and practical in overcoming the challenge of improving the paint thickness quality on complex-free surface.

Paint thickness simulation for painting robot trajectory planning: a review

2017 ◽  
Vol 44 (5) ◽  
pp. 629-638 ◽  
Author(s):  
Yan Chen ◽  
Wenzhuo Chen ◽  
Bo Li ◽  
Gang Zhang ◽  
Weiming Zhang
Keyword(s):  
Trajectory Planning ◽  
Complex Surface ◽  
Cfd Modeling ◽  
Content Type ◽  
Robot Trajectory ◽  
Model Study ◽  
Painting Robot ◽  
Paint Thickness ◽  
Deposition Simulation ◽  
Robot Trajectory Planning

Purpose The purposes of this paper are to review the progress of and conclude the trend for paint thickness simulation for painting robot trajectory planning. Design/methodology/approach This paper compares the explicit function-based method and computational fluid dynamics (CFD)-based method used for paint thickness simulation. Previous research is considered, and conclusions with the outlook are drawn. Findings The CFD-based paint deposition simulation is the trend for paint thickness simulation for painting robot trajectory planning. However, the calculation of paint thickness resulting from dynamically painting complex surface remains to be researched, which needs to build an appropriate CFD model, study approaches to dynamic painting simulation and investigate the simulation with continuously changing painting parameters. Originality/value This paper illustrates that the CFD-based method is the trend for the paint thickness simulation for painting robot trajectory planning. Current studies have been analyzed, and techniques of CFD modeling have also been summarized, which is vital for future study.

Trajectory Generation of Spray Painting Robot Using Point Cloud Slicing

2010 ◽  
Vol 44-47 ◽  
pp. 1290-1294 ◽  
Author(s):  
Ming Zhu Li ◽  
Zhang Ping Lu ◽  
Chun Fa Sha ◽  
Li Qing Huang
Keyword(s):  
Point Cloud ◽  
Planning Process ◽  
Cloud Model ◽  
Trajectory Generation ◽  
Spray Painting ◽  
Cloud Data ◽  
Sampling Points ◽  
Painting Robot ◽  
Normal Vectors ◽  
Spray Gun

In the trajectory planning process of spray painting robot, an approach to automatic trajectory generation of spray gun using point cloud slicing is presented. Firstly, the point cloud data is obtained by scanning the surface of the workpiece. After the uniform slicing of point cloud model, the spraying position is determined by the average sampling of cross-section contours. Then the normal vectors of the sampling points are estimated. Finally the trajectory of spray gun is generated by offsetting the sampling points along their normal vectors. Experimental results show that the method has good feasibility and effectiveness. The spraying trajectory, direction and distance of spray gun can be controlled accurately, thus the spraying quality and efficiency are improved.

Incremental approach for trajectory generation of spray painting robot

2015 ◽  
Vol 42 (3) ◽  
pp. 228-241 ◽  
Author(s):  
Mayur V. Andulkar ◽  
Shital S. Chiddarwar
Keyword(s):  
Experimental Validation ◽  
Trajectory Generation ◽  
Free Form ◽  
Programming Approach ◽  
Surface Model ◽  
Cad Model ◽  
Spray Painting ◽  
Content Type ◽  
Simulation Results ◽  
Spray Gun

Purpose This paper aims to present a new offline robot programming approach for automated trajectory generation on free-form surfaces targeted toward spray painting application. Design/methodology/approach In this paper, an incremental trajectory generation approach is developed where new paint passes are generated based on paint deposited on the surface as a result of previous paint passes. The trajectory is generated on real surfaces where optimal velocity is calculated using genetic algorithm considering parameters such as surface model, spray gun model, paint distribution model and task constraints. Findings The developed approach was implemented on various surfaces for different paint distribution patterns, and the simulation results reveal that the approach is flexible and efficient to handle variety in part geometry and paint distribution. From experimental validation and analysis of results thus obtained, the developed approach is highly promising compared to the existing methods. Research limitations/implications The approach assumes that the computer-aided design (CAD) model of the surface is available and is limited to surjective surfaces in a structured environment where the spray gun characteristics and process parameters are known beforehand. Practical implications The problem of programming a robot manually is overcome by automatically generating a sub-optimal trajectory which can be easily transferred to an industrial robot for spray painting the surface. Originality/value This paper discusses a new approach for automated trajectory generation from CAD model. The experimental validation of the developed approach is successfully performed on a highly curved test surface, and obtained results are in agreement with the simulation results.

CAD-GUIDED SPRAY GUN TRAJECTORY PLANNING OF FREE-FORM SURFACES IN MANUFACTURING

2003 ◽  
Vol 02 (01) ◽  
pp. 47-69 ◽  
Author(s):  
HEPING CHEN ◽  
NING XI ◽  
YIFAN CHEN ◽  
JEFFREY DAHL
Keyword(s):  
Trajectory Planning ◽  
Complex Geometry ◽  
Trajectory Generation ◽  
Free Form ◽  
Generation System ◽  
Automotive Manufacturing ◽  
Robot Trajectory ◽  
Satisfactory Performance ◽  
Paint Thickness ◽  
Free Form Surfaces

Automatic trajectory generation for spray painting is highly desirable for today's automotive manufacturing. Generating paint gun trajectories for free-form surfaces to satisfy paint thickness requirements is still highly challenging due to the complex geometry of free-form surfaces. In this paper, a CAD-guided paint gun trajectory generation system for free-form surfaces has been developed. The system utilizes the CAD information of a free-form surface to be painted and a paint gun model to generate a paint gun trajectory to satisfy the paint thickness requirements. The paint thickness deviation from the required paint thickness is optimized by modifying the paint gun velocity. A paint thickness verication method is also provided to verify the generated trajectories. The results of simulations have shown that the trajectory generation system achieves satisfactory performance. This trajectory generation system can also be applied to generate trajectories for many other CAD-guided robot trajectory planning applications.

scholarly journals Trajectory planning in UAV emergency networks with potential underlaying D2D communication based on K-means

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Shuo Zhang ◽  
Shuo Shi ◽  
Tianming Feng ◽  
Xuemai Gu
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Communication Systems ◽  
Complete Coverage ◽  
Wireless System ◽  
Fifth Generation ◽  
Emergency Communications ◽  
Trajectory Length ◽  
Post Disaster ◽  
Joint Evaluation

AbstractAt present, unmanned aerial vehicles (UAVs) have been widely used in communication systems, and the fifth-generation wireless system (5G) has further promoted the vigorous development of them. The trajectory planning of UAV is an important factor that affects the timeliness and completion of missions, especially in scenarios such as emergency communications and post-disaster rescue. In this paper, we consider an emergency communication network where a UAV aims to achieve complete coverage of potential underlaying device-to-device (D2D) users. Trajectory planning issues are grouped into clustering and supplementary phases for optimization. Aiming at trajectory length and sum throughput, two trajectory planning algorithms based on K-means are proposed, respectively. In addition, in order to balance sum throughput with trajectory length, we present a joint evaluation index. Then relying on this index, a third trajectory optimization algorithm is further proposed. Simulation results show the validity of the proposed algorithms which have advantages over the well-known benchmark scheme in terms of trajectory length and sum throughput.

Shear strength and temperature distribution model of friction spot lap joint of high density polyethylene with aluminum alloy 7075

2019 ◽  
Vol 10 (4) ◽  
pp. 469-483 ◽  
Author(s):  
Isam Tareq Abdullah ◽  
Sabah Khammass Hussein
Keyword(s):  
Shear Strength ◽  
Temperature Distribution ◽  
High Density Polyethylene ◽  
Contact Region ◽  
High Density ◽  
Distribution Model ◽  
Lap Joint ◽  
Content Type ◽  
Rotating Speed ◽  
Model Of Friction

Purpose The purpose of this paper is to join a sheet of the AA7075 with the high-density polyethylene (HDPE) by a lap joint using friction spot processing and investigate the temperature distribution of joint during this process using the finite element method (FEM). Design/methodology/approach A semi-conical hole was manufactured in the AA7075 specimen and a lap joint configuration was prepared with the HDPE specimen. A rotating tool was used to generate the required heat to melt the polymer by the friction with the AA7075 specimen. The applied tool force moved the molten polymer through the hole. Four parameters were used: lower diameter of hole, rotating speed, plunging depth and time. The results of shear test were analyzed using the Taguchi method. A FEM was presented to estimate the temperature distribution of joint during the process. Findings All specimens failed by shearing the polymer at the lap joint region without dislocation. The specimens of the smallest diameter exhibited the highest shear strength at the lap joint. The maximum ranges of temperature were recorded at the contact region between the rotating tool and the AA7075 specimen. The tool plunging depth recorded the highest effect on the generated heat compared with the rotating speed and plunging time. Originality/value For the first time, the AA7075 sheet was joined with the HDPE sheet by friction spot processing. The temperature distribution of this joint was simulated using the FEM.

An optimal trajectory planning method for path tracking of industrial robots

Robotica ◽  
2018 ◽  
Vol 37 (3) ◽  
pp. 502-520 ◽  
Author(s):  
Xianxi Luo ◽  
Shuhui Li ◽  
Shubo Liu ◽  
Guoquan Liu
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Optimal Path ◽  
Path Tracking ◽  
Industrial Robots ◽  
Planning Method ◽  
Coordinate Frame ◽  
Optimization Approach ◽  
Cartesian Coordinate ◽  
Optimal Trajectory Planning

SUMMARYThis paper presents an optimal trajectory planning method for industrial robots. The paper specially focuses on the applications of path tracking. The problem is to plan the trajectory with a specified geometric path, while allowing the position and orientation of the path to be arbitrarily selected within the specific ranges. The special contributions of the paper include (1) an optimal path tracking formulation focusing on the least time and energy consumption without violating the kinematic constraints, (2) a special mechanism to discretize a prescribed path integration for segment interpolation to fulfill the optimization requirements of a task with its constraints, (3) a novel genetic algorithm (GA) optimization approach that transforms a target path to be tracked as a curve with optimal translation and orientation with respect to the world Cartesian coordinate frame, (4) an integration of the interval analysis, piecewise planning and GA algorithm to overcome the challenges for solving the special trajectory planning and path tracking optimization problem. Simulation study shows that it is an insufficient condition to define a trajectory just based on the consideration that each point on the trajectory should be reachable. Simulation results also demonstrate that the optimal trajectory for a path tracking problem can be obtained effectively and efficiently using the proposed method. The proposed method has the properties of broad adaptability, high feasibility and capability to achieve global optimization.

scholarly journals Trajectory optimization of UAV based on Hp-adaptive Radau pseudospectral method

2021 ◽  
Vol 0 (0) ◽  
pp. 0
Author(s):  
Yi Cui ◽  
Xintong Fang ◽  
Gaoqi Liu ◽  
Bin Li
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Optimization Problem ◽  
Tracking Error ◽  
Pseudospectral Method ◽  
Planning Problem ◽  
A Algorithm ◽  
Planning Scheme ◽  
Path Search ◽  
Simulation Results

<p style='text-indent:20px;'>Unmanned Aerial Vehicles (UAVs) have been extensively studied to complete the missions in recent years. The UAV trajectory planning is an important area. Different from the commonly used methods based on path search, which are difficult to consider the UAV state and dynamics constraints, so that the planned trajectory cannot be tracked completely. The UAV trajectory planning problem is considered as an optimization problem for research, considering the dynamics constraints of the UAV and the terrain obstacle constraints during flight. An hp-adaptive Radau pseudospectral method based UAV trajectory planning scheme is proposed by taking the UAV dynamics into account. Numerical experiments are carried out to show the effectiveness and superior of the proposed method. Simulation results show that the proposed method outperform the well-known RRT* and A* algorithm in terms of tracking error.</p>

Finance equity, student achievement, and justice

2014 ◽  
Vol 52 (6) ◽  
pp. 812-832 ◽  
Author(s):  
Robert C. Knoeppel ◽  
Patricia F. First ◽  
Matthew R. Della Sala ◽  
Chinasa A. Ordu
Keyword(s):  
Student Achievement ◽  
Distribution Systems ◽  
Distribution Model ◽  
Judicial Interpretation ◽  
Distribution Models ◽  
Content Type ◽  
Achievement Data ◽  
State Education ◽  
Accountability Policy ◽  
Equity Ratio

Purpose – The purpose of this paper is to explore the connections between state education finance distribution models and student achievement. To date, lawsuits challenging the constitutionality of state finance systems have been heard in 45 states; the judicial interpretation of the requirement to provide equality of educational opportunity has led to changes in finance distribution models as well as the implementation of accountability policy. Design/methodology/approach – The study included district level finance and achievement data from five states. Researchers reviewed the relevant judicial interpretation of the finance system, the accountability policy, and the finance distribution system. Next, researchers calculated the equity of both the finance distribution model and measures of student achievement. Finally, an equity ratio was developed and calculated to discern the degree to which state distribution models resulted in equitable measures of student achievement. Findings – Findings reveal that no state has both an equitable system of finance and equitable measures of student achievement. The way that states define proficiency significantly impacts the percentage of students that reach proficiency. This impacts the provision of equality of opportunity. Originality/value – Traditionally, the measurement of equity has only been applied to finance distribution systems. The authors of this paper have applied these concepts to measures of student achievement and aligned the two concepts with the equity ratio. Since states are charged with providing sufficient resources to enable students to reach proficiency, an understanding of the interaction between resources and achievement is a critical tool in analyzing the provision of equal opportunity.

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