Affiliation:
1. National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan
2. Hokkaido University, Sapporo, Japan
Abstract
This paper presents a new method for robot spray painting simulation. First, the authors introduce a method for rigid body motion interpolation proposed by Zefran for generating smooth trajectories of a spray gun. Second, the authors propose a method to solve inverse kinematics problems using Lie algebra for computing the motion of the robot manipulator from the spray gun’s motion. Third, the authors propose a method for calculation of color depth of the workpiece painted with the spray gun. Finally, in order to evaluate the usefulness of the three proposed methods, the authors develop a simulation system for robot spray painting.
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献