Optimal velocity trajectory generation for spray painting robot in offline mode

Andulkar, Mayur V.; Chiddarwar, Shital S.; Paigwar, Anshul

doi:10.1145/2783449.2783456

Cited by 3 publications

(6 citation statements)

References 9 publications

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“…The global average paint thickness differs from the desired q d in this case. Therefore, the global velocity optimization value is formulated using a weighted-sum approach proposed by [ 32 ]. The paint thickness model for a point cloud P representing a surface with n points can be described in [ 6 ] by Equations (14) and (15) with a graphical representation in Figure 14 .…”

Section: Robot Velocity Calculationmentioning

confidence: 99%

“…

is the angle that the normal vector at point p makes with the vector that points from the surface point p to the spray-gun center;

is the optimal velocity for the paint pass;

is given by Equation (15). The total paint thickness at each triangle is then calculated by adding all the paint thickness values from Equation (14) based on the number of times a single point is sprayed [ 32 ]. Then, the optimization problem can be formulated as follows:

where

is given by Equation (14),

is the desired thickness, P is the total number of points on the surface, and

is the total number of points with a paint thickness within the allowed variation ∆

.…”

Section: Robot Velocity Calculationmentioning

confidence: 99%

“…Also, for a surface represented with a total of P points, the number of equations to be solved is P + 1. To reduce the number of equations, the authors proposed converting the function

into a single function W using the weighted sum approach [ 32 ], which is given by:

…”

Section: Robot Velocity Calculationmentioning

confidence: 99%

Section: Robot Velocity Calculationmentioning

confidence: 99%

“…q(r) is given by Equation ( 15). The total paint thickness at each triangle is then calculated by adding all the paint thickness values from Equation ( 14) based on the number of times a single point is sprayed [32]. Then, the optimization problem can be formulated as follows: minF = F p , A F p = (|q t − q d |) and A = P − P qd (16) where q p is given by Equation ( 14), q d is the desired thickness, P is the total number of points on the surface, and P qd is the total number of points with a paint thickness within the allowed variation ∆q d = q d ± q s .…”

Section: Robot Velocity Calculationmentioning

confidence: 99%

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Autonomous Trajectory Planning for Spray Painting on Complex Surfaces Based on a Point Cloud Model

Nieto Bastida,

Lin

2023

Sensors

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Using teach pendants or offline programming methods can generate tool paths for robot manipulators to carry out production activities, such as spray painting on objects of different geometries. This task, in which the complexity of painting the surface is one of the main challenges, requires highly skilled operators. In addition, the time spent setting up a robot task can be justified for the mass production of the same workpiece. However, it is inconvenient for low-production and high-variation production lines. In order to overcome these challenges, this study presents an algorithm to autonomously generate robot trajectories for a spray-painting process applied to objects with complex surfaces based on input 3D point cloud data. A predefined spherical mesh wraps the object, organizing the geometrical attributes into a structured data set. Subsequently, the region of interest is extracted and isolated from the model, which serves as the basis for the automatic path-planning operation. A user-friendly graphical user interface (GUI) is developed to define input parameters, visualize the point cloud model and the generated trajectory, simulate paint quality using a color map, and ultimately generate the robot’s code. A 3D sensor is used to localize the pose of the workpiece ahead of the robot and adjust the robot’s trajectory. The efficacy of the proposed approach is validated first by using various workpieces within a simulated environment and second by employing a real robot to execute the motion task.

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Section: Robot Velocity Calculationmentioning

confidence: 99%

“…

is the angle that the normal vector at point p makes with the vector that points from the surface point p to the spray-gun center;

is the optimal velocity for the paint pass;

where

is given by Equation (14),

is the desired thickness, P is the total number of points on the surface, and

is the total number of points with a paint thickness within the allowed variation ∆

.…”

Section: Robot Velocity Calculationmentioning

confidence: 99%

“…Also, for a surface represented with a total of P points, the number of equations to be solved is P + 1. To reduce the number of equations, the authors proposed converting the function

into a single function W using the weighted sum approach [ 32 ], which is given by:

…”

Section: Robot Velocity Calculationmentioning

confidence: 99%

Section: Robot Velocity Calculationmentioning

confidence: 99%

Section: Robot Velocity Calculationmentioning

confidence: 99%

See 3 more Smart Citations

Autonomous Trajectory Planning for Spray Painting on Complex Surfaces Based on a Point Cloud Model

Nieto Bastida,

Lin

2023

Sensors

View full text Add to dashboard Cite

show abstract

Design of flying robot painting system for Indian railway passenger coaches

2021

Materials Today: Proceedings

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Fabrication of High-Quality Straight-Line Polymer Composite Frame with Different Radius Parts Using Fiber Winding Process

et al. 2021

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The extraordinary features of fibrous composites enable advanced industries to design composite structures with superior performance compared to traditional structures. Composite frame structures have been designed frequently as components of mechanical systems to resist lateral and gravity loads. The manufacturing of high-quality composite frames depends primarily on the accurate fiber winding on frames with different pro-files and curved shapes. The optimal fiber winding process on a nonbearing composite frame with a circular cross-section is described in previous works by the same authors. As an extension to that, this study focuses on the manufacturing of straight-line composite frames with different profile radii at multiple locations. Such production procedure allows continuous winding of fibers gradually on individual parts of the frame and generally with different angles of fiber winding. The winding procedure is performed using fiber-processing head and industrial robot. The procedure for calculating the distance of the winding plane of fibers on the frame from the guide-line of the fiber-processing head is targeted. This distance depends on the required angle of fiber winding, the radius of the frame, and the geometric parameters of the fiber-processing head. The coordination of the speed of winding the fibers on the frame and the speed of the passage of the frame through the winding head is also considered. Determining the correct distance of winding the fibers from the corresponding guide-line of fiber-processing head and right coordination of the winding speed and the speed of passage of the frame through the fiber-processing head ensure compliance of the required angles of fiber windings on the frame and homogeneity of winding fibers, which are the two of the most important prerequisites for producing a quality composite frame. The derived theory is well verified on a practical experimental example.

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Optimal velocity trajectory generation for spray painting robot in offline mode

Cited by 3 publications

References 9 publications

Autonomous Trajectory Planning for Spray Painting on Complex Surfaces Based on a Point Cloud Model

Autonomous Trajectory Planning for Spray Painting on Complex Surfaces Based on a Point Cloud Model

Design of flying robot painting system for Indian railway passenger coaches

Fabrication of High-Quality Straight-Line Polymer Composite Frame with Different Radius Parts Using Fiber Winding Process

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