Automated robot trajectory planning for spray painting of free-form surfaces in automotive manufacturing

2003 ◽  
Author(s):  
Heping Chen ◽  
Weihua Sheng ◽  
Ning Xi ◽  
Mumin Song ◽  
Yifan Chen
Keyword(s):  
Trajectory Planning ◽  
Free Form ◽  
Spray Painting ◽  
Automotive Manufacturing ◽  
Robot Trajectory ◽  
Free Form Surfaces ◽  
Robot Trajectory Planning

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 Automatic Robot Trajectory for Thermal-Sprayed Complex Surfaces

2018 ◽  
Vol 2018 ◽  
pp. 1-11
Author(s):  
Dandan Fang ◽  
You Zheng ◽  
Botao Zhang ◽  
Xiangbo Li ◽  
Pengfei Ju ◽  
...  
Keyword(s):  
Complex Geometry ◽  
Automatic Generation ◽  
Simulation Software ◽  
Spray Angle ◽  
Free Form ◽  
Spray Parameters ◽  
Automotive Manufacturing ◽  
Robot Trajectory ◽  
Free Form Surfaces ◽  
The Given

Automatic trajectory generation for thermal spray application is highly desirable for today’s automotive manufacturing. Automatic robot trajectory for free-form surfaces to satisfy the coating uniform is still highly challenging due to the complex geometry of free-form surfaces. The purpose of this study is to present and implement a method for automatic generation of robot trajectory according to the given spray parameters on polygon profile and complex curved free-form surfaces, such as torch speed, spray distance, spray angle, and so on. This software development foundation is an Add-In programme of RobotStudio, which is off-line programming and simulation software of ABB Company. The experimental results show that the robot trajectory can be generated rapidly, accurately, and automatically on the complex geometries by this method.

scholarly journals Industrial robot trajectory planning based on improved pso algorithm

2021 ◽  
Vol 1820 (1) ◽  
pp. 012185
Author(s):  
Shunjie Han ◽  
Xinchao Shan ◽  
Jinxin Fu ◽  
Weijin Xu ◽  
Hongyan Mi
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Pso Algorithm ◽  
Robot Trajectory ◽  
Improved Pso ◽  
Robot Trajectory Planning

Robot Trajectory Planning Using Rational Frenet-Serret Curves

Volume 2 ◽  
2004 ◽  
Author(s):  
Reza Ravani ◽  
Ali Meghdari
Keyword(s):  
Trajectory Planning ◽  
Computer Animation ◽  
Rational Curves ◽  
Robot Arm ◽  
Robot Trajectory ◽  
Arm Motion ◽  
Sweep Surface ◽  
And Robotics ◽  
Rotation Minimizing Frame ◽  
Robot Trajectory Planning

The aim of this paper is to demonstrate that the techniques of Computer Aided Geometric Design such as spatial rational curves and surfaces could be applied to Kinematics, Computer Animation and Robotics. For this purpose we represent a method which utilizes a special class of rational curves called Rational Frenet-Serret (RF) [8] curves for robot trajectory planning. RF curves distinguished by the property that the motion of their Frenet-Serret frame is rational. We describe an algorithm for interpolation of positions by a rational Frenet-Serret motion. Further more we provide an analysis on spatial frames (Frenet-Serret frame and Rotation Minimizing frame) for smooth robot arm motion and investigate their applications in sweep surface modeling.

Robot trajectory planning using a genetic algorithm

1996 ◽  
Author(s):  
Daniel J. Pack ◽  
Gregory J. Toussaint ◽  
Randy L. Haupt
Keyword(s):  
Genetic Algorithm ◽  
Trajectory Planning ◽  
Robot Trajectory ◽  
Robot Trajectory Planning
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