Spray Painting Robot Research Articles

Foundations for analytical models of staircase traversal of convex polygonal surfaces

In this paper, we present the analytical foundations for modelling the staircase traversal of convex polygonal surfaces by a tool in the form of a circular disk. Based on these foundations, we next develop a mathematical model and an algorithm for a near optimal tool path in a staircase traversal of convex polygonal surfaces. We compare this algorithm- which is called OPTPATHwith two existing algorithms. This comparison confirms that OPTPATH performs better than the other two test algorithms. The OPTPATH algorithm can be used for staircase traversal with or without overlap between successive sweep passes and with or without rapid traversal in edge passes. This generality of OPTPATH allows its application to several manufacturing problems such as face and pocket milling, robotic deburring, rapid prototyping, and robotic spray painting. The results of the theorems presented in the paper can be helpful in designing new algorithms as well as in improving some of the existing algorithms for optimizing tool path in staircase traversal of convex polygonal surfaces.

Automatic trajectory planning system (ATPS) for spray painting robots

Automatic trajectory planning system (ATPS) for spray painting robots

Automatic trajectory planning system (ATPS) for spray painting robots

Abstract In this paper, we develop an automatic trajectory planning system (ATPS) for painting robots by a new scheme. This systems considers geometric modeling, painting mechanics, and robot dynamics to output an optimal trajectory (in the sense of coating uniformity and painting time) based on the CAD data describing the shape of objects. The new scheme is implemented on a SUN/4 workstation to develop an ATPS for painting robots. To test effectiveness and illustrate the developed system, numerous experiments are performed and analyzed. The practical application of the developed system is to plan an optimal robot trajectory that results in uniform coating thickness in minimum painting time.

Trajectory generation for manipulators using linear quadratic optimal tracking

The reference trajectory is normally known in advance in manipulator control, which makes it possible to apply linear quadratic optimal tracking. This gives a control system which rounds corners and generates optimal feedforward. The method may be used for references consisting of straight-line segments as an alternative to the two-step method of using splines to smooth the reference and then applying feedforward. in addition, the method can be used for more complex trajectories. The actual dynamics of the manipulator are taken into account, and this results in smooth and accurate tracking. The method has been applied in combination with the computed torque technique and excellent performance was demonstrated in a simulation study. The method has also been applied experimentally to an industrial spray-painting robot where a saw-tooth reference was tracked. The corner was rounded well, and the steady-state tracking error was eliminated by the optimal feedforward. >

Task-space tracking with redundant manipulators

A controller for redundant manipulators with a small fast manipulator mounted on a positioning part has been developed. The controller distributes the fast motion to the small fast manipulator and the slow gross motion to the positioning part. A position reference is generated on-line to the positioning part to avoid singularities and the loss of degrees of freedom. The task-space position vector is augmented by the generalized coordinates of the positioning part. Feedback linearization and decoupling are then applied in the augmented task space to obtain a model consisting of decoupled double integrators. These decoupled double integrators are controlled by the use of linear quadratic optimal control. In the optimal control problem the performance index is chosen so that the task-space position reference is tracked with a high bandwidth while the reference to the positioning part is tracked with a low bandwidth. The controller has been applied to a simple planar redundant manipulator and an eight-link spray painting robot in simulation experiments. These simulations showed that a high bandwidth was possible with moderate actuator torques.

塗装用ロボットの安全性(<特集>機械工学の中の安全性・信頼性-その哲学と技術)

塗装用ロボットの安全性(<特集>機械工学の中の安全性・信頼性-その哲学と技術)

Cartesian Control of a Spray-Painting Robot with Redundant Degrees of Freedom

Cartesian Control of a Spray-Painting Robot with Redundant Degrees of Freedom

Cartesian Control of a Class of Redundant Manipulators

Cartesian controllers for a class of redundant manipulators are discussed. The class of manipulators considered consists of a non-redundant manipulator mounted on a positioning part. A new control system particularly suited for this class of mani-pulators is presented, and compared with control systems using generalized inverses of the manipulator Jacobian. In the new control system, the task space position vector is augmented by the generalized coordinates of the positioning part. A reference to the positioning part is generated on-line in such a way that singularities and loss of degrees of freedom are avoided. For trajectory tracking, feedback linearization and decoupling in the augmented task space is used. It is then straightforward to design a controller which makes the outer non-redundant manipulator take care of the high frequency part of the task space reference, while the positioning part takes care of the slow gross motion. In a simulation experiment, this control system performs significantly better than the controllers using the generalized inverse of the manipulator Jacobian. Application of the proposed control system to an eight link spray painting robot is also discussed.

Designing the User-Friendly Robot: A Case History

The process of designing the user interfaces for an industrial spray-painting robot manufactured by the Nordson Corporation is described in the form of a case history. Human factors engineering was applied to the design of the system control panel, to a control grip on a special version of the robot's arm used in programming the system, and to the specialized microcomputer operating system used to manage the task of programming, monitoring, and operating the system.

More new robots help fuel Japan's new ‘robot fever’

A new spray painting robot and several new assembly robots have recently joined Japan's army of robots. Japan's robot fever is, however, confined to only a few industries and its robot population is not quite as people imagine.

Spray Painting Robots

The increasing demand for industrial automation has finally reached the paint shops throughout the mechanical industry. The operations performed in most paint shops are stressing, i.e. monotonous ever‐repeating movements day in and day out, as conditions also can be unhealthy because the operators breathe intoxicated air. Although surface treatments call for highly skilled spraygun operators, these qualified men cannot be offered a first class environment because of the specific paint shop situation. The spray painter, therefore, does not always feel happy with his job. He notices that other work shops in the factory grow better and better with regard to equipment and working conditions, while his shop stays with the old system. He is, therefore, constantly looking for a better place, which can be dramatic to his factory because skilled spray gun operators are hard to replace, or because the training‐in of new men is a costly matter, it takes time, and quality as well as capacity may be suffering during that time.

The case for the spray painting robot

The case for the spray painting robot