Uniform Coverage of Simple Surfaces Embedded in for Auto-Body Painting
Uniform Coverage of Simple Surfaces Embedded in for Auto-Body Painting
复制标题
嵌入人体涂装的简单表面的均匀覆盖
DOI：
--
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
A. Rizzi
中科院分区：
文献类型：
--
作者：
P. N. Atkar;David C. Conner;A. Greenfield;H. Choset;A. Rizzi
． 我们为机器人喷漆应用开发了一个自动轨迹生成程序。喷涂要求喷枪在目标表面的每个点上涂漆，从而使最终涂漆的变化在可接受的范围内；我们称之为均匀覆盖问题。为了理解均匀覆盖问题中的关键问题，我们考虑了表面斑块，这些表面斑块在测地线上是凸的，拓扑结构简单，以表示现实的汽车表面。我们的目标是了解喷枪轨迹与以下输出特性之间的关系：沉积均匀性、循环时间和油漆浪费。我们的规划方法将覆盖轨迹生成问题分解为三个子问题：起始曲线的选择，每次通过的速度剖面的选择，以及通过之间间距的选择。利用诸如面积放大、微分几何中的高斯-博内定理和标准优化程序等概念，我们提出了独立于其他子问题解决每个子问题的程序。最后，我们在模拟和实验中展示了我们的轨迹规划过程，这些过程是在接近真实汽车表面的简单表面上进行的。
. We develop a procedure for automated trajectory generation for robotic spray painting applications. Painting requires that the spray gun deposit paint at each point on the target surface such that the variation of the resultant paint deposition is within acceptable limits; we term this the uniform coverage problem. To understand the key issues in the uniform coverage problem, we consider surface patches that are geodesically convex and topologically simple to represent realistic automotive surfaces. Our goal is to understand the relationship between the spray gun trajectory and the following output characteristics: deposition uniformity, cycle time, and paint waste. Our planning approach decomposes the coverage trajectory generation problem into three subproblems: selection of the start curve, selection of the speed profiles along each pass, and selection of the spacing between the passes. Using concepts such as area magnification, the Gauss-Bonnet theorem from differential geometry, and standard optimization procedures, we present procedures to solve each subproblem independently of the others. Finally, we demonstrate our trajectory planning procedures in simulation as well as experimentally on simple surfaces that approximate real automobile surfaces.