Trajectory Planning and Optimal Method of Spray Manipulator for Furniture Surface Painting

摘要

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.