Trajectory optimization of robotic spray painting for complex curved surfaces

摘要

After the material deposition rate function is provided according to the experiment data,a complex curved surface is divided into several patches and trajectory optimization for each patch is performed.In order to satisfy the material uniformity requirements,optimization algorithms of the three different cases are developed to integrate the trajectories on the intersecting area of two patches.The steepest descent algorithm and pattern search method are adopted to optimize the parameters.The results of simulations have shown that the model and the tool planning algorithm are feasible.It is proved that the material thickness is quite uniform on the intersecting area when the paint gun paths are parallel to the intersection line.