A Class of the Spraying Operation Trajectory Planning and Optimization

Abstract

Abstract. This paper studies the trajectory planning and the optimization of the end spray gun of the mechanical arm, aiming at the running distance of the spray gun. The proposed way makes the whole process of gun required to run the shortest distance of the spraying trajectory. It builds mathematical model towards the optimal trajectory planning of the spray gun's spraying work; according to the process requirements, kinematic parameter are gained by the technological process and the control instruction. It allows the spray gun at the end of the mechanical arm to run as per the expected trajectory by using the trajectory of the spray gun. Based on the approach, it can get a set of automatic spraying device and complete the spraying work with high quality. This study has lots of practical application value.