Offline Trajectory Planning on Curved Surface for Spray Painting Robot in Shipbuilding Industry

Abstract:

Taking painting velocity, spray gun standoff and trajectory pitch as optimization objectives, establishing film thickness distribution model for trajectory planning on curved surfaces. Considering the surfaces to be painted, setting film thickness uniformity as optimization goal, using particle swarm optimization(PSO) algorithm to optimize the objects. Fitting the surfaces with nonuniform rational Bspline(NURBS), generating painting passes by NURBS control points. Combining optimal objects with painting passes, the trajectory for painting process on curved surface can be obtained finally. By analyzing the results of painting simulation on prow, planar, concave, convex and S type surface, the validity and effectiveness of offline trajectory planning method for spray painting robot were verified.

Key words:shipbuilding industry; spray painting robot; curved surface painting; offline trajectory planning