Title :
Development of an automatic trajectory planning system (ATPS) for spray painting robots
Author :
Suh, Suk-Hwan ; Woo, In-Kee ; Noh, Sung-Kee
Author_Institution :
Dept. of Ind. Eng., POSTECH, Pohang, South Korea
Abstract :
An automatic trajectory planning system (ATPS) for painting robots is developed. Geometric modeling, painting mechanics, and robot dynamics are considered to produce an optimal trajectory (in the sense of coating uniformity and painting time) based on the CAD data describing the shape of objects. The scheme was implemented on a SUN/4 workstation to develop an ATPS for painting robots. To test the effectiveness and illustrate the developed system, numerous experiments were performed and analyzed. The practical application of the developed system is for planning an optimal robot trajectory such that uniform coating thickness is achieved in minimum painting time
Keywords :
computerised control; factory automation; industrial robots; planning (artificial intelligence); position control; spray coating techniques; SUN/4 workstation; automatic trajectory planning; coating uniformity; dynamics; factory automation; geometric modelling; industrial robots; optimal trajectory; painting time; spray painting robots; Coatings; Painting; Robot sensing systems; Robotics and automation; Shape; Solid modeling; Sun; System testing; Trajectory; Workstations;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131912
