The trajectory optimization of spray gun for spraying painting robot based on surface curvature properties | |
Peng, Zhang; Huifeng, Ning; Jun, Gong; Lina, Wei | |
2017 | |
会议日期 | December 12, 2015 - December 13, 2015 |
会议地点 | Xi’an, China |
关键词 | Aerodynamics Intelligent systems Intelligent vehicle highway systems Least squares approximations Optimization Robots Spray guns Trajectories Combination optimization Evaluation function Free surfaces Identification scheme Least square approximations Spray-painting robots Surface curvatures Trajectory optimization |
卷号 | 454 |
DOI | 10.1007/978-3-319-38789-5_42 |
页码 | 331-339 |
英文摘要 | Based on the surface curvature feature, the identification scheme is put forward for curvature of the free-form surface and the complex free surface, which is divided into large curvature and small curvature surface, and the graphic example is given to illustrate scheme effectiveness; Aimed at the trajectory optimization problem of spray gun of spraying-robot on complex free surface, the spray gun trajectory optimization model of different curvature surface is put forward to complete the trajectory optimization on the free surface. Combined with the least square approximation and topology element meshing techniques, the trajectory optimization problem of the intersecting area of two patches of different curvature will be turned into the trajectory optimization problem of the intersecting area of a similar natural quadric patch and an approximate plane patch. Then the trajectory optimization evaluation function model is set up, which verifies the proposed scheme effectiveness by simulation results. © Springer International Publishing Switzerland 2017. |
会议录 | Advances in Intelligent Systems and Computing
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会议录出版者 | Springer Verlag |
语种 | 英语 |
ISSN号 | 21945357 |
内容类型 | 会议论文 |
源URL | [http://ir.lut.edu.cn/handle/2XXMBERH/118060] ![]() |
专题 | 机电工程学院 |
作者单位 | College of Mechano-Electronic Engineering, Lanzhou Univ. of Tech., Lanzhou; 730050, China |
推荐引用方式 GB/T 7714 | Peng, Zhang,Huifeng, Ning,Jun, Gong,et al. The trajectory optimization of spray gun for spraying painting robot based on surface curvature properties[C]. 见:. Xi’an, China. December 12, 2015 - December 13, 2015. |
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