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自由曲面喷漆机器人喷枪轨迹优化

, PP. 147-150

Keywords: 喷漆机器人,自由曲面,轨迹,优化,仿真

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Abstract:

根据实验数据确定平面上的涂层累积速率二次函数后,建立了自由曲面上的漆膜厚度数学模型。在此基础上生成喷漆机器人喷枪空间路径,得出喷枪轨迹优化设计是带约束条件的多目标优化问题,并选取时间最小和漆膜厚度方差最小作为目标函数,应用带权无穷范数理想点法进行求解。最后通过计算机仿真的结果,论证了数学模型和优化算法的可行性。

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