智能喷涂机器人编程方法与遥操作技术研究综述  

Programming methods and teleoperation technology for intelligent spray-painting robot:A review

作　　者：訾斌[1,2] 潘敬锋 李元[1] 冯凯 朱晓芸 ZI Bin;PAN Jing-feng;LI Yuan;FENG Kai;ZHU Xiao-yun(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China;Schoolof Mechano-Electronic Engineering,Xidian University,Xi’an 710071,China)

机构地区：[1]合肥工业大学机械工程学院,合肥230009 [2]西安电子科技大学机电工程学院,西安710071

出　　处：《控制与决策》2025年第4期1057-1078,共22页Control and Decision

基　　金：国家自然科学基金项目(52335002,52205014,U24A20116);中央高校基本科研业务费专项资金项目(JZ2024HGTB0245)。

摘　　要：随着智能制造技术和机器人技术的发展,智能涂装技术和机器人遥操作技术的应用越来越广泛,合理的编程方法能够保障喷涂的质量和效率,机器人遥操作技术能够延伸人类的操作手段.鉴于此,针对智能喷涂机器人编程方法和遥操作技术的研究进行综述.首先,对喷涂系统的发展、编程方法和机器人遥操作技术进行介绍;然后综述智能喷涂机器人编程方法和遥操作技术的研究成果,对喷涂机器人的编程,包括示教编程、离线编程系统、喷涂自动轨迹规划进行分析和讨论,并重点介绍智能喷涂机器人遥操作技术的应用和研究现状,从遥操作方法和系统控制两个方面阐述机器人遥操作技术在智能涂装领域的应用现状及遥操作系统稳定性和交互性的优化算法;最后,总结与展望智能喷涂机器人编程方法和遥操作技术的发展趋势.With the development of intelligent manufacturing technology and robot technology,the application of intelligent painting technology and robot teleoperation technology is becoming increasingly widespread,reasonable programming methods can ensure the quality and efficiency of spraying,and robot teleoperation technology can extend human operation methods.In view of this,a review is conducted on the programming methods and teleoperation technology for intelligent spray-painting robots.Firstly,the development,programming methods of spray-painting systems,and technology of robot teleoperation are introduced.Then,the research results of programming methods and teleoperation technology for the spray-painting robot are summarized,the programming of the spray-painting robot,including teaching programming,offline programming systems,and automatic spray-painting trajectory planning,are analyzed and discussed,the application and research status of robot teleoperation technology for the intelligent spraypainting robot are emphasized,the current application status of robot teleoperation technology in the field of intelligent painting,as well as optimization algorithms for the stability and interactivity of teleoperation systems are elaborated from the aspects of teleoperation methods and system control.Finally,the development trends of spray-painting robot programming methods and robot teleoperation technology are summarized and discussed.

关 键 词：喷涂机器人 示教编程 离线编程 轨迹规划 机器人遥操作 系统稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]