Optimizing the trajectory of the painting robot

Abstract

The main objective of this research work was to create a technological and mathematical model of the robotic arm movement for conducting painting work. For experiment was chosen model of the robotic arm, which corresponds in its construction robots commonly used in industrial production. This model of the robot was adapted to the conditions of carrying out painting work. One of the objectives was to create a mathematical model, which is designed to find the optimal trajectory for moving of the robot arm. Thanks to the mathematical model, which allows to optimize the trajectory of the painting robot, it was possible to deal with technological aspects. One of the main aspects was the consumption of material, in this case the method of applying colour to the surface. The path of the endpoint of the robotic arm must apply uniform colour layers with minimal overlap of previously painted surfaces. This is related to the fluidity of movement of the robot, which is determined by the functionality of the articulated joints. In the model was monitored load of servomotors that are placed always in contact with the arm pads, arm with next arm and arm with the endpoint. The optimal load for the servomotor, in particular the total energy consumption during the movement, was designed to avoid overload and subsequent collision. The aim of optimizing the technological model of painting robot is shortening the period for which the robot, with defined consumption of materials and energy, is capable to make the optimal trajectory.