| Autor: |
Li Ye, Bo-Zhao Pan, Li-Bin Song, Zhao Liu |
| Rok vydání: |
2017 |
| Předmět: |
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| Zdroj: |
2017 5th International Conference on Mechanical, Automotive and Materials Engineering (CMAME). |
| Popis: |
The paper introduces the trajectory planning of redundant robots, and conducts to provide an automatic solution for spraying the inner surface of curved pipes in aviation industry. The method of trajectory planning is obtained by solving the inverse kinematics of a redundant robot based on its kinematic model and the constraints of complex inner surface and joint speed. The method can provide collision-free trajectories in simulation. The trajectories can also enable a redundant robot to complete spraying tasks without any collisions in practice. Both thickness and uniformity of coating meet the standard technical requirements. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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