期刊文献+

基于高斯和模型的喷涂机器人涂层生长率建模 被引量:8

Gaussian sum based coat growth rate modeling of spray painting robots
原文传递
导出
摘要 针对具有圆锥形喷炬的空气喷枪的涂层生长率建模问题进行研究,通过分析喷涂系统和涂层形成过程,给出了有关喷涂建模的合理假设.提出了一种新的能够适应涂层不同分布情况的高斯和静态喷涂模型,以获得比一般喷涂建模方法更好的建模精度和更广的应用范围.并根据涂层分布数据采用Levenberg-Maquart算法对模型进行最小二乘拟合,在此基础上构建了用于实际喷枪轨迹规划的动态涂层厚度分布模型.现场喷涂实验结果及和其他常用模型的比较表明所提出的高斯和模型具有更高的拟合精度和更好的实用性. The growth rate modeling problem for air spray gun with circular spray cone was studied in this paper.The painting system and coat depositing process was analyzed in-depth,and several reasonable assumptions were given on painting modeling problem.A new Gaussian sum based static painting model that can be adapted to different kinds of coat distributions was proposed,which can achieve better accuracy and broader application fields.The Levenberg-Marquart algorithm was used to fit the model with coating distribution data in the meaning of least square.On the basis of that the dynamic painting model for real-time trajectory planning of spray gun was constructed.Results of field spraying experiments and comparisons to other common models show that the proposed Gaussian sum model has higher fitting accuracy and better practicability.
出处 《华中科技大学学报(自然科学版)》 EI CAS CSCD 北大核心 2013年第S1期463-466,共4页 Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金 国家重大科技专项资助项目(2010ZX04008-041)
关键词 工业机器人 喷涂机器人 涂层生长率 高斯和 非线性拟合 industrial robot painting robot coating growth Gaussian sum nonlinear fitting
  • 相关文献

参考文献10

  • 1Rasmussen C E,Williams K I.Gaussian processes for machine learning. . 2006 被引量:1
  • 2Hyotyiemi M.Minor moves—global results:robot trajectory planning. IEEE International Conference on Tools for Artificial Intelligence . 1990 被引量:1
  • 3Chen Heping,Thomas F,Li Xiongzi.AutomatedIndustrial Robot Path Planning for Spray PaintingProcess:A Review. 4th IEEE Conference onAutomation Science and Engineering . 2008 被引量:1
  • 4SUH S H,NOH I K.Development of an automatic trajectory planning system(ATPS)for spray painting robots. Proceedings of the IEEE International Confer-ence on Robotics and Automation . 1991 被引量:1
  • 5张永贵,黄玉美,高峰,王伟.喷漆机器人空气喷枪的新模型[J].机械工程学报,2006,42(11):226-233. 被引量:50
  • 6Sheng, Weihua,Chen, Heping,Xi, Ning,Chen, Yifan.Tool path planning for compound surfaces in spray forming processes. IEEE Transactions on Automation Science and Engineering . 2005 被引量:1
  • 7Antonio, J.K.,Ramabhadran, R.,Ling, T.-L.Framework for optimal trajectory planning for automated spray coating. International Journal of Robotics and Automation . 1997 被引量:1
  • 8From P.J.,Gravdahl J.T.,Gunnar J.Optimal paint gun orientation in spray paint applications-experimental results. IEEE Transactions on Automation Science and Engineering . 2011 被引量:1
  • 9冯川,孙增圻.机器人喷涂过程中的喷炬建模及仿真研究[J].机器人,2003,25(4):353-358. 被引量:28
  • 10陈伟..喷涂机器人喷枪轨迹优化研究[D].江苏大学,2007:

二级参考文献14

  • 1Klein A. CAD-based off-line programming of painting robots. Robotica. 1987,5(4):267--271. 被引量:1
  • 2Tuna Balkan. Modeling of paint flow rate flux for circular paint sprays by using experimental paint thickness distribution[J].Mechanics Research Communication. 1999,26(5): 609-- 617. 被引量:1
  • 3Bellan. Supercritical (and subcritical) fluid behavior and modeling: drops, streams, shear and mixing layers, jets and sprays [J]. Progress in Energy and Combustion Science. 2000,26(4-- 6): 329--366. 被引量:1
  • 4Peter Hertling, LarsHog, Rune Larsen, John W. Perram, Henrik Gordon Petersen. Task Curve Planning for Painting Robots Part 1: Process Modeling and Calibration.IEEE Transaction on Robotics and Automation, 1996,12(2). 被引量:1
  • 5Jackie Neider,Tom Davis,Mason Woo. OpenGL Programming Guide. Silicon Graphics. Addison-Wesley Publishing Company. 1993. 被引量:1
  • 6Lefebver H. Atomization and Sprays. Hemisphere Publishing Corporation. 1989. 被引量:1
  • 7HYOTYIEMI H.Minor moves-global results:robot trajectory planning[C]//Proceeding of the IEEE International Conference on Tools for Artificial Intelligence,Herndon,VA.USA.Nov.,1990.VA:IEEE,1990:16-22. 被引量:1
  • 8ANTONIO J.Optimal trajectory planning for spray coating[C]//Proceeding of the IEEE International Confere -nce on Robotics & Automation,San Diego,California,May,1994.CA:IEEE,1994,3:2570-2577. 被引量:1
  • 9KLEIN A.CAD-based off-line programming of painting robots[J].Robotica,1987,5:267-271. 被引量:1
  • 10SUH S H,NOH I K.Development of an automatic trajectory planning system (ATPS) for spray painting robots[C]//Proceedings of the IEEE International Confer-ence on Robotics and Automation,Sacramento,CA,Apr.,1991.CA:IEEE,1991,3:1948-1955. 被引量:1

共引文献60

同被引文献109

引证文献8

二级引证文献20

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部