3D surface reconstruction based trajectory control for a magnetic scattering film plating robot

Abstract

Automatic trajectory generation for robot manipulators is a highly desirable application for robots, In this paper, we take into account the geometric aspects of trajectory planning, especially the workpiece reconstruction and description used to generate the trajectories. Generating manipulator trajectories for free-form surfaces to satisfy manufacturing requirements is highly challenging due to the complex geometry of free-form surfaces. This paper describes the development of a 3D surface reconstruction guided manipulator trajectory generation system for a magnetic scattering film plating robot. After reviewing existing methods of trajectory generation, an effective trajectory generation method for robotic film plating is introduced and a trajectory planning algorithm that can be used to control a magnetic scattering film plating robot is proposed. A kinematics verification method is also provided to verify the generated trajectories. Results obtained from the simulation and experiments are presented, the results show that the trajectory generation system achieves satisfactory performance. The paper fulfils an identified need for an effective trajectory generation method for magnetic scattering robotic film plating based on the workpiece surface reconstruction after the mesh subdivision. The trajectory generation system can also be used to generate trajectories for many other surface-guided robot trajectory planning applications.