Title :
Trajectory Planning and Optimal Method of Spray Manipulator for Furniture Surface Painting
Author :
Liu, Yaqiu ; Teng, Jianhua ; Song, Wenlong
Author_Institution :
Northeast Forestry Univ. Harbin, Harbin
Abstract :
In this paper, we develop a robot manipulator for furniture coating and present robot manipulator composition and kinematic theory, we give the method to obtain the optimal path of applicator on a plane and two intersecting plane respectively .on the basic of applying overlap distance and applicator velocity to solve optimize trajectory problem, we make further consideration for the effect of the spray deposition rate on the applicator moving velocity. To test the effectiveness and prove the rationality, the process that robot manipulator moving in three dimensions was simulated on the Robotics Toolbox of matlab. The results appeared that the robot manipulator moving on the planned path is correct and feasible.
Keywords :
furniture; furniture industry; industrial manipulators; manipulator kinematics; painting; path planning; spray coatings; applicator moving velocity; applicator velocity; furniture coating; furniture surface painting; kinematic theory; matlab; overlap distance; robot manipulator; robotics toolbox; spray deposition rate; spray manipulator; trajectory planning; Applicators; Coatings; Kinematics; Manipulators; Optimization methods; Painting; Robots; Spraying; Testing; Trajectory;
Conference_Titel :
Industrial Electronics and Applications, 2007. ICIEA 2007. 2nd IEEE Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0737-8
Electronic_ISBN :
978-1-4244-0737-8
DOI :
10.1109/ICIEA.2007.4318766