JP3827439B2 - Robot trajectory generation method for painting robot - Google Patents

Description

上記（１）式を膜厚制御に関する基礎式とし、図３に示すような幾何的関係からＳＣＰの位置Ｘ（ｔ）および速度Ｖ（ｔ）が求められる。すなわち、始終端部における速度Ｖ（ｔ）は下記（３）式で表わされる。
【００２０】
【数２】

次に、塗装膜厚は塗装速度に反比例するため、標準施工条件（標準的なスプレー姿勢すなわち垂直スプレー姿勢、ノズルチップに応じた標準的なスプレー距離および標準的な塗装速度）に相当する膜厚Ｕ_０（スプレーパターン幅中央での膜厚）を基にして、下記（４）式（詳細は、後で説明する）に示す膜厚基準式から下記（５）式が得られる。
【００２１】
【数３】

Ｕ＝Ｕ_０／ｋ_ｖ（ｔ） （５）
ここでｋ_ｖは標準施工条件に対する塗装速度の比であり、手首振り動作内では刻々と変化する。また、上記（４）式において、手首振りに伴ってｋ_ｌ（後で説明する）は変化するが塗着量は変わらないため、幅方向の重ね塗りにおいては、膜厚に影響しないものと考えられる。したがって、上記（５）式では、速度の影響だけを考慮している。
【００２２】
ここで、上記（４）式について説明すると、この式は、二次関数で表わされた基準膜厚分布式に、スプレー距離および塗装速度の影響を組み込んだものである。
【００２３】
すなわち、スプレー距離はノズルによって標準的な推奨値があるが、鋼構造塗装ではワークとの干渉回避などのために、スプレー距離をある程度変化させる必要がある。このため、スプレー距離によるパターン幅と膜厚分布への影響を基準膜厚分布式に組み込む必要がある。
【００２４】
組込みの基本原理は、図４に示すように、スプレー距離ｌ_ｓとパターン幅ｗ_ｓとが比例し、粒子がパターン幅に比例して分散すること、および塗布量が変化しないことに基づく。すなわち、膜厚はスプレー距離に反比例するが、パターン幅はスプレー距離に比例することになる。
【００２５】
ところで、塗装速度が大きい場合には、塗布面への塗着効率が落ちると考えられるが、膜厚は塗布量に比例する、すなわち塗装速度に反比例すると考えてよい。
【００２６】
以上の原理に基づき、下記（６）式に示す基準膜厚分布式に、スプレー距離と塗装速度との影響を組み込むと、（４）式に示すような膜厚基準式が得られる。なお、（４）式中、ｋ_ｌおよびｋ_ｖは、標準スプレー距離に対するスプレー距離の比である距離係数、および標準速度に対する塗装速度の比である速度係数をそれぞれ示す。
【００２７】
【数４】

以上がＴＣＰ速度の指定による始終端部での膜厚制御の原理と基本式の説明である。ここで、上記方法による始終端部での膜厚制御実験を、鋼構造用に開発した塗装ロボットを用いて行った結果について説明する。
【００２８】
実験方法は、施工パラメータを変化させて、図５に示すようにテストピースに塗布し、パターン幅中央での膜厚を離散的に測定した。この時の塗装条件・施工条件は、下記［表１］および［表２］に示す通りである。また、手首振り半径は、ロボットの手首設計値より３００ｍｍとする。なお、手首振り部ではスプレー距離が変化するので始終端部でのスプレーパターンは広がるが、幅方向の重ね塗りにより、膜厚への影響は相殺される。
【００２９】
【表１】

【００３０】
【表２】

図６にＴＣＰおよびＳＣＰの各速度変化を、図７（ａ）〜（ｃ）に膜厚変化のシミュレーション結果（実線にて示す）と実測値（丸、三角、菱形の各点にて示す）との対比を示す。
【００３１】
図６に示すように、手首振り動作からアーム動作への移り変わり点におけるＴＣＰ速度の不連続にも拘わらず、ＳＣＰ速度は連続となり、また図７に示す実測結果から、始終端部での膜厚制御が可能であることが分かる。また、ＴＣＰ加速度をパラメータとして見た場合でも、実測値とシミュレーションとはよく一致しており、膜厚制御シミュレーションが有用であることが分かる。
【００３２】
ところで、上述したＴＣＰ加減速による制御は、結果的に膜厚変化を得る方法であり、一次式による加減速の制御では、図７に示すように、富士山型の膜厚勾配曲線を描くことになる。
【００３３】
そこで、さらに一般化して、始終端部での膜厚変化を直接的に指示し、それを実現するＴＣＰ軌道を求める手順を以下に示す。
（イ）始終端部での膜厚変化の指定
まず、膜厚変化とそのパラメータを指定する。膜厚変化としては、例えば直線変化（一次式）などが考えられる。これに対するパラメータとして、図８に示すように、直線部の塗装速度Ｖ_ｓ，膜厚比ν（Ｕ_ｇ／Ｕ_ｈ），スタート・エンドでのパターン距離Ｘ_ｍ，およびスプレータイミングＴ_ｓを指定する。ここでＵ_ｈは塗装速度Ｖ_ｓに相当する膜厚で、パターン幅中央の膜厚で代表される。一次式の膜厚変化は下記（７）式に示す位置関数として表わされる。なお、（７）式中、Ｋは、（Ｕ_ｈ−Ｕ_ｇ）／Ｘ_ｍを示す。
【００３４】
【数５】

（ロ）ＳＣＰ軌道について
上記（７）式で示した膜厚Ｕ（Ｘ）は、塗装速度Ｖ（Ｘ）に反比例するため、始終端部でのＳＣＰ速度は、下記（８）式に示す位置関数にて表わされる。
【００３５】
【数６】

ここで、ＳＣＰの位置と速度とには、時間に対して、下記（９）式に示すような関係がある。
ｄＸ／ｄｔ＝Ｖ（Ｘ） （９）
したがって、ＳＣＰ位置は、この微分方程式を解くことによって時間関数として得られる。例えば、一次式の膜厚変化では、下記（１０）式に示すように、ＳＣＰの位置が時間の関数として求められる。具体的には、（８）式を（９）式に代入してＸに関する方程式を求め、この方程式をＸについて解くことにより、下記（１０）式が得られる。
【００３６】
【数７】

なお、代数的あるいは数値解法により、ＳＣＰの位置は任意の膜厚変化に対して求めることが可能である。
【００３７】
（ハ）ＴＣＰ軌道について
最後にロボットの軌道制御対象であるＴＣＰ軌道（ノズル先端位置のロボット軌道）を求め、このＴＣＰ軌道によりＳＣＰ軌道（噴霧中心点の軌道）が生成されて、膜厚プロフィールが得られる。すなわち、膜厚を指定した場合の始終端部におけるＴＣＰ軌道は、図８および図３を参照することにより、下記（１１）式にて表わされる。具体的には、ＳＣＰ位置ＸよりもＴＣＰ位置ｘの方が、Ｌ _ｓ よりもｌ _ｓ 分だけ手首中心に近いため、手首振り角度θ _ｍ が（ｒ _ｗ ／Ｌ _ｓ ）の割合で小さくなる。この関係を用いてＴＣＰ位置ｘを求めると、下記（１１）式が得られる。
【００３８】
【数８】

なお、（イ）項で指定したスプレータイミングは、図８に示すように塗膜の範囲を限定する働きを持つ。
【００３９】
上記ＴＣＰ軌道を求める手順をまとめると、以下のようになる。
まず始終端部における膜厚変化をＳＣＰ（噴霧中心点）の位置関数として与え、次に膜厚と塗装速度とが反比例するという条件を使用して、ＳＣＰにおける塗装速度（移動速度）をその位置に対する関数として求め、この速度関数に基づき、速度が位置の微分であることを使用して、ＳＣＰの位置を時間に対する関数として求め、次にこのＳＣＰの位置に基づき、ＴＣＰ（噴霧ノズル先端）の軌道を求める。
【００４０】
ここで、膜厚形状指定による膜厚制御のシミュレーションを行った結果について説明する。条件はＴＣＰ加減速制御による膜厚制御実験と同様である。シミュレーションは、（１０）式および（１１）式で与られるＴＣＰ軌道を出発点とし、（１）〜（６）式を説明した箇所にて展開した手順により行った。始終端区間距離Ｘ_ｍをパラメータとしてシミュレーションの結果得られた膜厚形状を図９に示す。この図９から、良好なシミュレーション結果が得られているのがよく分かる。
【００４１】
上述したＴＣＰ加減速制御における実測値とシミュレーションとの一致、および図９のシミュレーション結果が示すように、パラメータによって膜厚形状を自由に制御することができる。
【００４２】
上記した塗装膜厚の制御方法によると、ロボットの手首部だけを、塗装パスの始終端部で揺動させるようにしたので、ロボットアームを揺動させようとする場合に比べて、衝撃力が殆ど発生しないため、支障なく、「ぼかし塗り」をロボットにより行わせることができる。
【００４３】
また、上述したロボット軌道の生成方法によると、塗装膜厚変化を与えることにより、ＳＣＰの軌道を求め、この軌道からＴＣＰでのロボット軌道を求めることができるため、塗装膜厚を自由に制御し得る。
【００４４】
【発明の効果】
以上のように本発明のロボット軌道生成方法によると、塗装膜厚変化を与えることにより、噴霧中心点における軌道を求め、この軌道からノズル先端でのロボット軌道を求めることができ、したがって塗装膜厚を自由に制御することができる。
【図面の簡単な説明】
【図１】 本発明の実施の形態における塗装対象物の要部鳥瞰図である。
【図２】 同実施の形態における塗装域の重なり状態を示す断面図である。
【図３】 同実施の形態における塗装パラメータの関係を示す図である。
【図４】 同実施の形態におけるスプレー距離とスプレー幅との関係を説明する平面図である。
【図５】 同実施の形態における膜厚制御実験を説明する図である。
【図６】 同実施の形態におけるＴＣＰおよびＳＣＰでの速度変化を示すグラフである。
【図７】 同実施の形態における膜厚変化を示すグラフである。
【図８】 同実施の形態の軌道生成方法による膜厚プロフィールを示すグラフである。
【図９】 同実施の形態における膜厚制御方法による膜厚のシミュレーション結果を示すグラフである。
【符号の説明】
１ 船殻ブロック
２ 船体外板
３ ビーム材
４ 隔壁材[0001]
BACKGROUND OF THE INVENTION
The present invention relates Carlo bot trajectory generation method put painting robot.
[0002]
[Prior art]
In recent years, robots have been widely put into practical use in the manufacturing processes of various mass-produced products. However, robots have also been put into practical use in large structures such as ships and bridges.
[0003]
For example, many welding operations are performed by welding robots. However, even in painting operations where the economic effect is not sufficiently exhibited compared to welding, robotization is still necessary due to problems such as securing skilled workers. It is desired.
[0004]
Conventionally, when painting is performed by a painting robot, control is performed by giving robot operation data so that the tip of the robot arm, that is, the spray nozzle draws a predetermined trajectory. The speed, that is, the moving speed was controlled to be constant.
[0005]
[Problems to be solved by the invention]
By the way, in the painting operation, a certain coating quality, that is, uniform coating without dripping and uneven coating is required. In particular, when painting the boundary between work areas where the painted surface is a corner or where the painted surfaces overlap, “blur coating” is required. Appropriate control is not performed, and it is actually performed manually and automation is desired.
[0006]
The present invention, for working "Blur coating" also an object to provide a Carlo bot trajectory generation method put into painting robot which is adapted capable of painting by the robot.
[0007]
[Means for Solving the Problems]
In order to solve the above problems, the robot trajectory generation method in the painting robot of the present invention, in the start and end portions on both sides of the middle portion of the painting path for painting by the spray nozzle provided on the wrist of the arm tip of the painting robot, This is a method to determine the trajectory of the spray center point on the painted surface when performing `` blur coating '' by swinging the wrist part along the painting direction and making this rocking speed faster than the painting speed at the intermediate part. First, give the film thickness change at the start and end as a position function of the spray center point, and using the condition that the film thickness and the coating speed are inversely proportional, determine the moving speed of the spray center point as a function of that position, Based on this velocity function, using the fact that velocity is a derivative of position, the spray center point trajectory is obtained as a function of time.
[0008]
Furthermore, the robot trajectory generation method in another painting robot of the present invention is such that the wrist portion is painted at the start and end portions on both sides of the middle portion of the painting path where painting is performed by the spray nozzle provided at the wrist portion at the tip of the arm of the painting robot. This is a method of obtaining the trajectory of the tip of the spray nozzle when performing “blurring” by making the rocking speed along the direction higher than the painting speed at the intermediate part, Using the condition that the film thickness change is given as a position function of the spray center point, and the film thickness and coating speed are inversely proportional, the moving speed of the spray center point is obtained as a function of that position. Is the position derivative to determine the position of the spray center as a function of time and then determines the trajectory of the spray nozzle tip based on the position of the spray center It is the law.
[0009]
According to each robot trajectory generation method described above, the coating film thickness can be changed to obtain the trajectory at the spray center point, and the robot trajectory at the nozzle tip can be obtained from this trajectory. can do.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the Carlo bot trajectory generation method put into painting robot embodiment of the present invention will be described with reference to FIGS. 1-9.
[0011]
As the painting robot in the present embodiment, an articulated robot is used, and the object to be painted is a hull block, which is assembled by horizontal and vertical members, and has a box shape. Has been.
[0012]
For example, as shown in FIG. 1, the hull block (also referred to as a work) 1 has a beam member 3 attached to the inner surface of a hull outer plate 2 as a stiffening member and is orthogonal to the hull outer plate 2. A case will be described in which the partition wall material 4 and the like are attached and the surface of the hull block 1 is painted by a painting robot (hereinafter referred to as a robot) particularly at the boundary between different painting areas.
[0013]
First, the trajectory of the robot with a paint gun having a spray nozzle attached to the wrist, that is, the operation data is obtained by the operation data generation system (computer system), as shown by the arrow D in FIG. Operation data of “blur coating” is generated so that the coating film thickness gradually decreases at the boundary portion of the painted surface, that is, at the start and end portions in the painting pass. This “blur coating” is a construction method required when connecting a coating film and a coating film so that a level difference does not occur.
[0014]
In general, when performing this “blur coating”, an operator uses a dynamic swing of a wrist or the like. When the “blur coating” is performed by the robot, the coating film thickness and the coating speed are inversely proportional, and therefore the coating speed may be changed dynamically. However, when an attempt is made to change the speed of the robot arm, a large impact force is generated due to the inertia of the robot arm.
[0015]
Therefore, it is considered that the speed change at the spray center point [hereinafter referred to as SCP (spray center point)] on the painted surface should be obtained only by the swinging motion (swinging motion) of the wrist portion with small inertia.
[0016]
That is, in order to perform “blurring coating” by the robot, the straight line in the straight part (intermediate part) where painting is performed by steady movement of the wrist swing trajectory at the start and end parts in the painting pass as shown in FIG. What is necessary is just to add before and after an orbit.
[0017]
Hereinafter, a control method for performing “blur coating” and a method for generating a wrist swing trajectory (robot trajectory) at the start and end portions of the painting pass will be described. First, if it is attempted to change the film thickness at the start / end portion by the wrist swing operation, it is necessary to specify the speed change in the tool tip position [hereinafter referred to as TCP (tool center point)] orbit indicating the nozzle position. .
[0018]
As a method for this, it is conceivable to change the TCP trajectory speed at the wrist swing portion in a linear form. That is, all the time a start end wrist swinging motion at the ends, designated by TCP acceleration a wrist pivot angle theta _m and constant paint straight portion painting speed v _s to be performed, following the TCP speed of wrist shaking unit (1 ) Set as shown below. In the equation (1), vg _represents the speed at the outer end position of the wrist tip, and v _h represents the speed at the boundary position moving to the straight portion of the wrist tip (corresponding to the straight portion coating speed). The value is obtained from the continuous condition of the SCP speed V (t) from the acceleration parameter a, the swing angle θ _m, and v _{s as the following} equation (2). Hereinafter, t in the equation indicates the time in each wrist swing section, and the subscripts 1 and 2 indicate the cases at the start end (start) and the end end (end). R _w represents the wrist length, l _s represents the paint distance, and L _s represents the distance from the wrist center to the SCP trajectory.
[0019]
[Expression 1]

The above equation (1) is a basic equation relating to film thickness control, and the SCP position X (t) and velocity V (t) are obtained from the geometrical relationship as shown in FIG. That is, the velocity V (t) at the start / end portion is expressed by the following equation (3).
[0020]
[Expression 2]

Next, since the coating film thickness is inversely proportional to the coating speed, the film thickness corresponding to the standard construction conditions (standard spray attitude, ie vertical spray attitude, standard spray distance according to the nozzle tip and standard coating speed). Based on U ₀ (film thickness at the center of the spray pattern width), the following formula (5) is obtained from the film thickness reference formula shown in the following formula (4) (details will be described later).
[0021]
[Equation 3]

U = U ₀ / k _v (t) (5)
Here, _kv is the ratio of the coating speed to the standard construction conditions, and changes every moment within the wrist swing motion. In the above equation (4), k _l (described later) changes with the wrist swing, but the coating amount does not change. Therefore, it is considered that the film thickness does not affect the film thickness in the overcoating in the width direction. It is done. Therefore, in the above equation (5), only the influence of speed is taken into consideration.
[0022]
Here, the above equation (4) will be described. This equation incorporates the influence of the spray distance and the coating speed into the reference film thickness distribution equation represented by a quadratic function.
[0023]
That is, although the spray distance has a standard recommended value depending on the nozzle, it is necessary to change the spray distance to some extent in order to avoid interference with the workpiece in steel structure coating. For this reason, it is necessary to incorporate the influence of the spray distance on the pattern width and the film thickness distribution in the reference film thickness distribution formula.
[0024]
As shown in FIG. 4, the basic principle of incorporation is based on the fact that the spray distance l _s is proportional to the pattern width w _s , the particles are distributed in proportion to the pattern width, and the coating amount does not change. That is, the film thickness is inversely proportional to the spray distance, but the pattern width is proportional to the spray distance.
[0025]
By the way, when the coating speed is high, it is considered that the coating efficiency on the coating surface is lowered, but the film thickness may be considered to be proportional to the coating amount, that is, inversely proportional to the coating speed.
[0026]
Based on the above principle, when the influence of the spray distance and the coating speed is incorporated into the reference film thickness distribution expression shown in the following expression (6), the film thickness reference expression as shown in expression (4) is obtained. In the equation (4), _kl and _kv represent a distance coefficient that is a ratio of the spray distance to the standard spray distance and a speed coefficient that is a ratio of the coating speed to the standard speed, respectively.
[0027]
[Expression 4]

The above is the explanation of the principle and basic formula of the film thickness control at the start / end portion by specifying the TCP speed. Here, the results of conducting the film thickness control experiment at the start and end portions by the above method using a coating robot developed for steel structures will be described.
[0028]
In the experiment method, the construction parameters were changed and applied to the test piece as shown in FIG. 5, and the film thickness at the center of the pattern width was measured discretely. The coating conditions and construction conditions at this time are as shown in [Table 1] and [Table 2] below. The wrist swing radius is set to 300 mm from the wrist design value of the robot. In addition, since the spray distance changes in the wrist swing portion, the spray pattern at the start and end portions spreads, but the influence on the film thickness is offset by the overcoating in the width direction.
[0029]
[Table 1]

[0030]
[Table 2]

FIG. 6 shows changes in the speeds of TCP and SCP, and FIGS. 7A to 7C show simulation results (shown by solid lines) and measured values (shown by circles, triangles, and diamonds) of film thickness changes. Comparison with is shown.
[0031]
As shown in FIG. 6, the SCP speed is continuous despite the discontinuity of the TCP speed at the transition point from the wrist swing operation to the arm operation, and the film thickness at the start / end portion is determined from the measurement result shown in FIG. It can be seen that control is possible. Further, even when TCP acceleration is viewed as a parameter, the actual measurement value and the simulation are in good agreement, and it can be seen that the film thickness control simulation is useful.
[0032]
By the way, the control by the TCP acceleration / deceleration described above is a method of obtaining the film thickness change as a result, and the acceleration / deceleration control by the primary equation is to draw a Mt. Fuji type film thickness gradient curve as shown in FIG. Become.
[0033]
Therefore, further generalized, a procedure for directly instructing a film thickness change at the start and end portions and obtaining a TCP trajectory for realizing the change will be described below.
(A) Designation of film thickness change at start and end portions First, a film thickness change and its parameters are designated. As the film thickness change, for example, a linear change (primary expression) can be considered. As parameters for this, as shown in FIG. 8, the coating speed V _s of the straight portion, the film thickness ratio ν (U _g / U _h ), the pattern distance X _m at the start / end, and the spray timing T _s are designated. . Here, U _h is a film thickness corresponding to the coating speed V _s , and is represented by a film thickness at the center of the pattern width. The change in film thickness of the linear expression is expressed as a position function shown in the following expression (7). In the formula (7), K represents (U _h -U _g ) / X _m .
[0034]
[Equation 5]

(B) Regarding the SCP trajectory The film thickness U (X) shown in the above equation (7) is inversely proportional to the coating speed V (X), so the SCP speed at the start / end portion is the position shown in the following equation (8). It is expressed as a function.
[0035]
[Formula 6]

Here, the position and speed of the SCP have a relationship as shown in the following formula (9) with respect to time.
dX / dt = V (X) (9)
Therefore, the SCP position is obtained as a time function by solving this differential equation. For example, in the case of a change in the film thickness of the linear expression, the position of the SCP is obtained as a function of time as shown in the following expression (10). Specifically, the following equation (10) is obtained by substituting equation (8) into equation (9) to obtain an equation related to X and solving this equation for X.
[0036]
[Expression 7]

Note that the position of the SCP can be obtained for any film thickness change by algebraic or numerical solution.
[0037]
(C) TCP trajectory Finally, a TCP trajectory (robot trajectory at the nozzle tip position) that is the target of trajectory control of the robot is obtained, and an SCP trajectory (trajectory of the spray center point) is generated by this TCP trajectory. can get. That is, the TCP trajectory at the start / end portion when the film thickness is designated is expressed by the following equation (11) with reference to FIGS . Specifically, because the TCP position x is closer to the wrist center by l _s than L _s than the SCP position X , the wrist swing angle θ _m becomes smaller at a rate of (r _w / L _s ). When the TCP position x is obtained using this relationship, the following equation (11) is obtained.
[0038]
[Equation 8]

The spray timing specified in the item (A) has a function of limiting the range of the coating film as shown in FIG.
[0039]
The procedure for obtaining the TCP trajectory is summarized as follows.
First, the change in film thickness at the start and end is given as a position function of the SCP (spray center point), and then the coating speed (moving speed) in the SCP is determined based on the condition that the film thickness and the coating speed are inversely proportional. Using the fact that the speed is a derivative of the position based on this speed function, the position of the SCP is determined as a function of time, and then based on this SCP position, the TCP (spray nozzle tip) Find the trajectory.
[0040]
Here, the result of the simulation of the film thickness control by specifying the film thickness shape will be described. The conditions are the same as in the film thickness control experiment by the TCP acceleration / deceleration control. The simulation was performed according to the procedure developed at the locations where the equations (1) to (6) were explained, starting from the TCP trajectory given by the equations (10) and (11). Starting and 9 the resulting film thickness shape of the simulated end section distance X _m as a parameter. From FIG. 9, it can be seen that a good simulation result is obtained.
[0041]
As shown by the coincidence between the actually measured value and the simulation in the TCP acceleration / deceleration control described above, and the simulation result of FIG. 9, the film thickness shape can be freely controlled by the parameters.
[0042]
According to the coating film thickness control method described above, only the wrist of the robot is swung at the start and end of the coating pass, so the impact force is lower than when the robot arm is swung. Since it hardly occurs, “blurring” can be performed by the robot without any trouble.
[0043]
Further, according to the robot trajectory generation method described above, the SCP trajectory can be obtained by applying the coating film thickness change, and the robot trajectory in TCP can be obtained from this trajectory. obtain.
[0044]
【The invention's effect】
As described above, according to the robot trajectory generation method of the present invention, it is possible to obtain the trajectory at the spray center point by giving the coating film thickness change, and to obtain the robot trajectory at the nozzle tip from this trajectory. Can be controlled freely.
[Brief description of the drawings]
FIG. 1 is a bird's-eye view of an essential part of a painting object in an embodiment of the present invention.
FIG. 2 is a cross-sectional view showing an overlapping state of paint areas in the same embodiment.
FIG. 3 is a diagram showing a relationship of coating parameters in the same embodiment.
FIG. 4 is a plan view for explaining a relationship between a spray distance and a spray width in the same embodiment.
FIG. 5 is a diagram for explaining a film thickness control experiment in the same embodiment;
FIG. 6 is a graph showing speed changes in TCP and SCP in the same embodiment.
FIG. 7 is a graph showing a change in film thickness in the same embodiment.
FIG. 8 is a graph showing a film thickness profile obtained by the trajectory generation method of the same embodiment.
FIG. 9 is a graph showing a simulation result of film thickness by the film thickness control method in the same embodiment.
[Explanation of symbols]
1 Hull Block 2 Hull Skin 3 Beam Material 4 Bulkhead Material

Claims (2)

  At the start and end of both sides of the middle part of the painting path where painting is performed by the spray nozzle provided at the wrist part at the tip of the arm of the painting robot, the wrist part is swung along the painting direction, and this rocking speed is This is a method for obtaining the trajectory of the spray center point on the coating surface when performing `` blur coating '' by making it faster than the coating speed at the part, first giving the film thickness change at the start and end part as a position function of the spray center point, Using the condition that the film thickness and the coating speed are inversely proportional, the moving speed of the spray center point is obtained as a function of the position, and based on this speed function, the speed is a derivative of the position. A robot trajectory generation method for a painting robot, characterized in that a trajectory of a center point is obtained as a function of time.   At the start and end of both sides of the middle part of the painting path where painting is performed by the spray nozzle provided at the wrist part at the tip of the arm of the painting robot, the wrist part is swung along the painting direction, and this rocking speed is This is a method of obtaining the trajectory of the tip of the spray nozzle when performing “blurring coating” at a higher speed than the coating speed at the part, first giving the film thickness change at the start and end part as a position function of the spray center point, Using the condition that the coating speed is inversely proportional, the moving speed of the spray center point is obtained as a function of the position, and based on this speed function, the speed is a derivative of the position, A robot trajectory generation method in a painting robot, wherein a position is obtained as a function of time, and then a trajectory of a spray nozzle tip is obtained based on the position of the spray center point.

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