Trajectory Optimization for Spray Painting Robot on Bezier-Bernstein Algorithm

摘要

The spraying robot is the most complex one in the control of industrial robot. Especially, the trajectory optimization of the spraying robot on the complex surface makes the actual operation difficult. In this paper, an optimization method of spraying trajectory is presented. The Bézier curves, Bézier surfaces and B-B merging algorithms are discussed. On this basis, the Hermite curve is used to connect the 3 adjacent curve segments to obtain the space spraying path of the surface. A novel algorithm for surface trajectory optimization is proposed. A simple accumulation model of coating is established and solved by proper mathematical programming method. Finally, the optimization trajectory of spraying robot on Bézier surface is obtained. Experimental results indicate that the triangular surface according to trajectory optimization algorithm achieves satisfactory performance. This method can also be extended to other applications.