In automatic spraying of spray painting robot, in order to solve the problems of coating growth rate modeling for varied dip-angle spraying technology, a prediction mode of coating growth rate using the Gaussian sum model is proposed. Based on the Gaussian sum model, a theoretical model for coating growth rate with varied dip-angle spraying is established by using the theory of differential geometry. The coating thickness of the sample points in the distribution range of the coating was obtained by making the experiment of varied dip-angle spraying. Based on the theoretical model, the nonlinear least square method is used to fit the coating thickness of the sample points and the parameter values of the theoretical model are calculated. By analyzing the variation law of the parameters with the spray dip-angle, the prediction model of coating growth rate for varied dip-angle spraying is established. Experiments have shown that the prediction model has good fitting precision; it can satisfy the real-time requirement with varied dip-angle spraying trajectory planning in the offline programming system.

Abstract-Uncalibrated visual servoing based on SVR-Jacobian estimator is proposed in unknown environment. Multiple support vector regression (SVR) machines are used to estimate the Jacobian matrix of images，and the nonlinear mapping between the image features of the curved line and the robot joint angle is constructed, uncalibrated robot impedance control can be carried out．Image Jacobian matrix expression with Gaussian kernel is put forward, the effectiveness of the presented approach is verified by using a 6 DOF robot with a CCD camera and a force/torque sensor installed in its end effector.

The belief propagation stereo matching algorithm has high computational cost and varied parameters. To address these problems and perform stereo matching in practical applications, we implement BP algorithm on cuda and propose an approach to estimate parameters of smoothness term in the energy function automatically. We use Harris corner detector and Pyramidal KLT feature tracker algorithm to extract a sparse disparity map. The rate of increase in the discontinuity cost can be compute out approximately. Experiments demonstrate that our approach is feasible and the approximate parameters of discontinuity cost can be computed out quickly.

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