Dynamics of anthropomorphic painting robot: Quality analysis and cost reduction
✍ Scribed by Veljko Potkonjak; Goran S. Đorđević; Dragan Kostić; Milan Rašić
- Publisher
- Elsevier Science
- Year
- 2000
- Tongue
- English
- Weight
- 911 KB
- Volume
- 32
- Category
- Article
- ISSN
- 0921-8890
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✦ Synopsis
Application of robots in spray-painting tasks results in low-cost production, persistent quality and protects humans from a hostile working environment. Automated planning of applicator's trajectory requires a model of paint deposition onto the treated surface and formulation of an appropriate criterion for the painting quality. In previous research several painting models and quality measures were derived. The research efforts were concentrated on the determination of the trajectory that provided the best quality of painting. In contrast with previous approaches, painting quality here is not considered as a criterion function, which is to be maximized, but as a constraint -we limit its lower level. This gives an opportunity for proper minimization of some additional cost function. Particular objective is ergonomic-based optimization of the painting task that results in reduced motor load, energy consumption, and control jerks, preserving the required quality. Practical fulfilment of such objectives requires a painting model applicable for an arbitrary spray-gun's position, orientation and velocity. Since existing models only partially satisfy these requirements, our research also includes derivation of the appropriate painting model. Thus, this paper treats two topics: modeling and simulation of the spray-painting process, and dynamic optimization of an anthropomorphic painting robot. An ergonomic shape of the spray-gun's trajectory is proposed. A set of diagrams for the optimal choice of characteristic trajectory parameters, in the sense of minimum energy consumption and preserved painting quality, is given. Benefits of the applied approach on reduced paint wastage and increased efficiency of the job, are pointed out.