Journal of Guangdong University of Technology ›› 2020, Vol. 37 ›› Issue (04): 21-26.doi: 10.12052/gdutxb.200001

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A Teaching Data Optimization Method of Hand by Hand Teaching Spray Robot

Chen Yu-peng, Gao Wei-qiang, Lu Yi-guang   

  1. School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2020-01-02 Online:2020-07-11 Published:2020-07-02

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Abstract: In view of the unsteady motion and low overall running speed of the hand by hand teaching spray robot, an optimization method based on spline curve fitting and motion planning is proposed. By using the non-uniform B-spline curve to fit the teaching track, the position and attitude fitting curve is obtained. The position curve and attitude curve are discretized separately. The position curve is discretized based on S-type acceleration and deceleration, and the two-way interpolation method is used to find the deceleration point. The problem of attitude and position synchronization is solved by establishing the mapping relationship between the parameters of attitude curve and position curve. Simulation and experiment show that the algorithm can effectively improve the stability and running speed of the teaching robot.

Key words: hand by hand teaching, spray robot, motion optimization

CLC Number: 

  • TP242.2
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