喷漆机器人离线编程系统探讨  

A Discussion on the Off Line Programming System for Painting Robots

作　　者：王振滨[1] 赵德安[2] 王炎炎[1] 钱琳 

机构地区：[1]江苏理工大学电气信息工程学院,江苏镇江212013 [2]浙江大学CG&CAD国家重点实验室,浙江杭州310002 [3]浙江省机电设计研究院,浙江杭州310002

出　　处：《江苏理工大学学报（自然科学版）》2000年第5期78-82,共5页Journal of Jiangsu University of Science and Technology(Natural Science)

基　　金：江苏省教委自然科学基金资助项目 !(99KJD470 0 0 2 ) ;浙江大学CG&CAD国家重点实验室开放课题基金资助项目!(A990 6 ) .

摘　　要：介绍了离线编程技术应用于喷漆机器人的研究现状与发展趋势 ,指出自动轨迹生成方式优于交互式或离线示教式轨迹生成方式 ,是今后的发展方向 文中还介绍了喷漆机器人离线编程系统的组成与结构 ,指出其主要包含 6大模块 深入探讨了最优轨迹设计问题(OTPP) ,先从一些基本假设与定义入手 ,由此导出OTPP目标泛函并给出其约束条件 。A description of the current research level and possible future development in this area,reveals that automatic trajectory generation method is superior to interactive /off line teaching method.This paper also introduces the architecture of the off line programming system for painting robots,and points out that it mainly contains six modules.Each of them is given a brief explanation In the last part of the paper the optimal trajectory planning problems(OTPP)are discussed in detail Beginning with some basic assumptions and definitions,the OTPP objective functional is derived together with its constraints and finally two classes of feasible OTPP are given based on them:The OTPP along a specified spatial path;the OTPP with general constraints

关 键 词：喷漆机器人 轨迹设计 优化 仿真 离线编程系统 

分 类 号：TQ639.3[化学工程—精细化工] TP242.2[自动化与计算机技术—检测技术与自动化装置]