THERMAL SCIENCE

International Scientific Journal

Authors of this Paper

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Xiaohua Chen

,

Zhanshan Wang

,

Kailei Liu

TRAJECTORY CONTROL AND PARAMETER OPTIMIZATION OF PLASMA ROBOT GUN

ABSTRACT
A plasma robot model with redundant freedom is proposed for the shortage of flexibility in the complex working environment of plasma robot. The existence of redundant degrees of freedom leads to the complex motion characteristics of the plasma robot joints. The trajectory of the end of the spray gun is difficult to describe. Therefore, a trajectory optimization algorithm based on fitness function is proposed. In the plasma robot joint space, a parabolic linear fitting is adopted. The error between the actual trajectory and the desired trajectory is taken as fitness function. Genetic algorithm is applied to find the optimal solution for the parameters in trajectory planning. The orthogonal experimental model of the parameters of the plasma spray gun is set up. The optimum working parameters of the spray gun are obtained through the analysis and study of the power, atmospheric pressure and the distance of the gun. Finally, the rationality of the proposed method is proved by simulation and test.
KEYWORDS
plasma robot, trajectory, fitness function, genetic algorithm
PAPER SUBMITTED: 2019-06-02
PAPER REVISED: 2019-09-09
PAPER ACCEPTED: 2019-09-12
PUBLISHED ONLINE: 2020-02-15
DOI REFERENCE: https://doi.org/10.2298/TSCI190602069C
CITATION EXPORT: view in browser or download as text file
THERMAL SCIENCE YEAR 2020, VOLUME 24, ISSUE Issue 3, PAGES [1819 - 1825]
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Trajectory control and parameter optimization of plasma robot gun

© 2024 Society of Thermal Engineers of Serbia. Published by the Vinča Institute of Nuclear Sciences, National Institute of the Republic of Serbia, Belgrade, Serbia. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution-NonCommercial-NoDerivs 4.0 International licence