喷涂机器人路径规划方法分析与展望

针对喷涂领域,喷涂路径规划算法决定了喷涂机器人在喷涂过程中的涂层均匀性、喷涂周期、喷涂质量。基于复杂表面特征工件,从对复杂表面的处理和喷枪轨迹优化两方面简述了喷涂路径规划方法的研究现状,特别对基于优化数学模型和基于智能算法路径规划作了重点介绍。最后分析了喷涂路径规划研究趋势并提出机器视觉和自学习算法相结合的智能喷涂轨迹规划方法。

Analysis and Prospect of Control Strategy of Lower Extremity Exoskeleton Robot

For the spray field, the spray path planning algorithm determines the coating uniformity, spray cycle, and spray quality of the spray robot during the spray process. In this paper, the research status of the spray path planning method is briefly described from the aspects of complex surface treatment and gun trajectory optimization. The optimization based on mathematical model and intelligent algorithm are introduced. Finally, the paper analyzes the research trend of spray path planning and proposes a smart spray trajectory planning method combining machine vision and self-learning algorithm.