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

fYear

1991

fDate

9-11 Apr 1991

Firstpage

1948

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131912

Filename

131912