Point cloud modeling and slicing algorithm for trajectory planning of spray painting robot
Autor: | Yikai Zhang, Cheng Zhaoying, Xinyi Yu, Linlin Ou |
---|---|
Rok vydání: | 2021 |
Předmět: |
0209 industrial biotechnology
Computer science General Mathematics Spray painting Point cloud 020207 software engineering 02 engineering and technology Edge (geometry) engineering.material Grid Slicing Computer Science Applications law.invention 020901 industrial engineering & automation Coating Control and Systems Engineering law 0202 electrical engineering electronic engineering information engineering engineering Point (geometry) Algorithm Software Dykstra's projection algorithm |
Zdroj: | Robotica. 39:2246-2267 |
ISSN: | 1469-8668 0263-5747 |
DOI: | 10.1017/s0263574721000308 |
Popis: | To improve the uniformity of coating thickness and spraying efficiency, new point cloud modeling and slicing algorithm are proposed to deal with free-form surfaces for the spray painting robot in this paper. In the process of point cloud modeling, the edge preservation algorithm is firstly presented to avoid damaging the edge characteristic of the point cloud model. For the spraying gun, the coating deposition model on the free-form surface is determined on the basis of the elliptic double β distribution model. Then, the grid projection algorithm is proposed to obtain grid points between adjacent slices on the free-form surface. Based on this, the analytical solution for calculating the coating thickness at each grid point is obtained. The cross-section contour points are obtained by intercepting the point cloud model with several parallel slices, which is important for the trajectory planning of the spray painting robot. Finally, the uniformity of coating thickness is optimized in terms of the moving speed of the spraying gun and the slice thickness. The simulation and numerical experiment results show that the uniformity of coating thickness and spraying efficiency are improved using the proposed point cloud modeling and slicing algorithm. |
Databáze: | OpenAIRE |
Externí odkaz: |