Spray gun trajectory conversion and differential motion of robot based on moving frame method

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	Spray gun trajectory conversion and differential motion of robot based on moving frame method
	Zhang, Shu-Zhen1 ; Kong, Min-Xiu 2; Yang, Ping1 ; Li, Chun-Ling1
	2014-10-28
发表期刊	Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University
ISSN	10062467
卷号	48 页码:5-8
摘要	For spray gun motion of the robot, based on the moving frame and exterior differentiation the relationship between the frames of spray trajectory on surface and the guns is established, the motion formula of the moving frames of spray trajectory and the guns are deduced, completely invariant expressions between spraying trajectory and tools one are obtained, by comparison differential movement of the robot on the moving frame and the gun frames motion, relations expression of components of micro-rotation and micro-translation and curvature and torsion of the guns trajectory are obtained, in order to realize conversion from the spray trajectory to the guns orientation and one and speed control in Cartesian space provides a new method. ©, 2014, Shanghai Jiao Tong University. All right reserved.
关键词	Robots Trajectories Cartesian Space Differential motion Microrotation Moving frame Relations expressions Spray trajectory
收录类别	EI
语种	中文
出版者	Shanghai Jiao Tong University, 2200 Xietu Rd no.25,, Shanghai, 200032, China
EI入藏号	20151500741860
EI主题词	Spray guns
EI分类号	731.5 Robotics
来源库	Compendex
分类代码	731.5 Robotics
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/113537
专题	机电工程学院高等教育研究所（教学质量监督与评估工作办公室、本科教学督导委员会研究生督导委员会）
作者单位	1.College of Mechano-Electronic Engineering, Lanzhou University of Technology, Lanzhou; 730050, China; 2.Robot Research Institute, Harbin Institute of Technology, Harbin; 150080, China
第一作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
推荐引用方式 GB/T 7714	Zhang, Shu-Zhen,Kong, Min-Xiu,Yang, Ping,et al. Spray gun trajectory conversion and differential motion of robot based on moving frame method[J]. Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University,2014,48:5-8.
APA	Zhang, Shu-Zhen,Kong, Min-Xiu,Yang, Ping,&Li, Chun-Ling.(2014).Spray gun trajectory conversion and differential motion of robot based on moving frame method.Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University,48,5-8.
MLA	Zhang, Shu-Zhen,et al."Spray gun trajectory conversion and differential motion of robot based on moving frame method".Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University 48(2014):5-8.