2008Optimal Trajectory Planning of Spray Manipulator for Furniture Surface Painting.pdfVIP

918 978-1-4244-1734-6/08/$25.00 c? 2008 IEEE three rules which determine and establish every coordinate system: 1) for ai from 0 to n-1 locate the axis Zi on the axis of the artichlation i+1. 2) locate the axis Xi in the common normal line of the axis Zi-1 and Zi ,and the axis Xi point to the direction which leave from the axis Zi-1 . 3) locate the axis in such a way that a right-hand system is formed with the axis Xi and Zi. iY 2.2 The parameter of robot manipulator According to the request of technology and working conditions of furniture coating, we structured a robot manipulator