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.