Technical Session - 5

Title:            Researching and Building Automatic Painting Algorithms for a 5 Degree-of-Freedom Robot
Authors:      Phung Tri Cong, Nguyen Duy Anh
Abstract:     Nowadays the application of industrial robots in manufacturing is so popular, especially in painting field. The painting work can affect to the health of workers. Thus, robots can replace people in this harmful activity such as in car manufacturing. This paper concentrates on building automatic painting algorithms for a given 5 degree-of-freedom (DOF) robot. First we look for the workspace of the robot. From this workspace, a complete system is designed including a 5-DOF robot, a translational part, and a painting object. Next, we solve position kinematic problems for the robot including forward kinematic and inverse kinematic problem. After that, automatic painting algorithms are built so that the robot can paint a planar surface and a cylindrical surface. These algorithms are verified by simulation using MATLAB. Finally, an experiment with real model is also considered to test proposed algorithms.

Keywords:   Painting System, 5-DOF Robot, Forward Kinematic, Inverse Kinematic, Path Tracking Algorithm
Pages:         281-285

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