| 三维可视化的喷涂机器人离线轨迹规划系统 |
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| 引用本文： | 樊帅权,周波,孟正大,戴先中.三维可视化的喷涂机器人离线轨迹规划系统[J].计算机技术与发展,2012(9):13-17. |
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| 作者姓名： | 樊帅权 周波 孟正大 戴先中 |
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| 作者单位： | 1. 东南大学 复杂工程系统测量与控制教育部重点实验室,江苏 南京 210096
2. 东南大学 自动化学院,江苏 南京 210096 |
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| 基金项目： | 国家重大科技专项基金资助项目（2010ZX04008-041） |
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| 摘 要： | 传统的喷涂机器人采用人工示教的方式生成喷涂轨迹，该方法依赖工人经验，规划时间长，且不能产生最佳轨迹。为克服这些缺陷，提高喷涂机器人的喷涂质量与喷涂效率，文中通过对喷涂机器人喷涂过程建模、喷涂路径规划、喷涂过程仿真进行深入的研究与分析，建立了喷涂机器人离线轨迹规划与仿真系统整体框架。在此基础上，采用MFC和OpenGL开发了完整的离线轨迹规划与仿真系统，该系统能够针对不同的工件生成正确的轨迹，并能够进行三维可视化的仿真及效果显示。
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| 关 键 词： | 喷涂机器人 轨迹规划 OpenGL 仿真 |
Off-line Path Planning and Simulation System of Spray Painting Robot Based on 3D Visualization |
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| FAN Shuai-quan,ZHOU Bo,MENG Zheng-da,DAI Xian-zhong.Off-line Path Planning and Simulation System of Spray Painting Robot Based on 3D Visualization[J].Computer Technology and Development,2012(9):13-17. |
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| Authors: | FAN Shuai-quan ZHOU Bo MENG Zheng-da DAI Xian-zhong |
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| Affiliation: | ( Ministry of Education Key Laboratory of Measurement and Control of CSE, Southeast University, Nanjing 210096, China; School of Automation, Southeast University, Nanjing 210096, China ) |
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| Abstract: | The traditional robot＇s paths can only be generated by teaching which is time-consuming and cannot produce the best trajecto- ry. In order to overcome these shortcomings and improve the coating quality and efficiency, through studying of gun modeling , methods of path planning and the simulation of spraying process, the structure of the off-line trajectory planning and simulation system has been established. Based on these researches, adopting MFC and OpenGL, a complete off-line path planning and simulation system has been developed. This system can generate correct trajectories according to different surfaces and simulate the trajectory with 3D visualization. |
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| Keywords: | spray painting robot path planning OpenGL simulation |
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