Trajectory planning for redundant robots for internal surface spraying

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Abstract

This article describes the trajectory planning for redundant robots for spraying the inner surface of a curved pipe. The complex inner surface constraints and the redundant robot kinematics are modeled with the inverse kinematics solved to plan the redundant robot trajectories for inner surface spraying which can apply to all types of pipes. Simulations give collision-free spraying trajectories for various conditions. Spraying tests show that the redundant robots complete the collision-free spraying operations. The coating thickness and uniformity both satisfy the requirements.

Keywords redundant robot spray trajectory planning

Issue Date: 15 June 2014

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	Junyi SHAO
	Chuanqing ZHANG
	Yan CHEN
	Ken CHEN

Cite this article:

Junyi SHAO,Chuanqing ZHANG,Yan CHEN, et al. Trajectory planning for redundant robots for internal surface spraying[J]. Journal of Tsinghua University(Science and Technology), 2014, 54(6): 799-804.

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http://jst.tsinghuajournals.com/EN/ OR http://jst.tsinghuajournals.com/EN/Y2014/V54/I6/799

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