Spray painting manipulator modelling, simulation and control

Abstract

In this study, a computer simulation program package for a six revolute joint spray painting robot having pitch-yaw-roll type wrist configuration has been developed.For this purpose, direct kinematics and inverse kinematics problems besides construction of manipulator Jacobian matrix have been investigated. A recursive dynamic modelling algorithm based on Newton-Euler formulation has been adopted to the six revolute joint spray painting robot. Furthermore, for the control of the robot, computed torque technique and minimum energy approach with specified final time and state are the methods employed. In addition to severai scenarios as the path to be followed during operation, one of the most critical problems of spray painting robots: Trajectory determination for a spray painting robot performing three dimensional surface operations has been investigated through on-line teach-in with off-line path planning approach.