Electronics 2019, 8(1), 74; https://doi.org/10.3390/electronics8010074
Optimized Combination of Spray Painting Trajectory on 3D Entities
1
School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China
2
School of Automation, Southeast University, Nanjing 210096, China
3
School of Science, Jiangsu University, Zhenjiang 212013, China
*
Author to whom correspondence should be addressed.
Received: 27 November 2018 / Revised: 25 December 2018 / Accepted: 4 January 2019 / Published: 9 January 2019
(This article belongs to the Special Issue Visual Servoing in Robotics)
Abstract
In this research, a novel method of space spraying trajectory optimization is proposed for 3D entity spraying. According to the particularity of the three-dimensional entity, the finite range model is set up, and the 3D entity is patched by the surface modeling method based on FPAG (flat patch adjacency graph). After planning the spray path on each patch, the variance of the paint thickness of the discrete point and the ideal paint thickness is taken as the objective function and the trajectory on each patch is optimized. The improved GA (genetic algorithm), ACO (ant colony optimization), and PSO (particle swarm optimization) are used to solve the TTOI (tool trajectory optimal integration) problem. The practicability of the three algorithms is verified by simulation experiments. Finally, the trajectory optimization algorithm of the 3D entity spraying robot can improve the spraying efficiency. View Full-TextKeywords:
spray painting robot; FPAG; GA; ACO; PSO; TTOI problem
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Chen, W.; Wang, X.; Liu, H.; Tang, Y.; Liu, J. Optimized Combination of Spray Painting Trajectory on 3D Entities. Electronics 2019, 8, 74.
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