A Method to Solve Inverse Kinematics Problems Using Lie Algebra and Its Application to Robot Spray Painting Simulation

摘要

This paper presents a new method for robot spray painting simulation. First, the authors introduce a method for rigid body motion interpolation proposed by Zefran for generating smooth trajectories of a spray gun. Second, the authors propose a method to solve inverse kinematics problems using Lie algebra for computing the motion of the robot manipulator from the spray gun’s motion. Third, the authors propose a method for calculation of color depth of the workpiece painted with the spray gun. Finally, in order to evaluate the usefulness of the three proposed methods, the authors develop a simulation system for robot spray painting.