This paper presents a new method of path planning for an industrial robot manipulator that performs thermal plasma spraying of coatings. Path planning and automatic generation of the manipulator motion program are performed using preliminary 3D surface scanning data from a laser triangulation distance sensor installed on the same robot arm. The new path planning algorithm is based on constructing a function of the geodesic distance from the starting curve. A new method for constructing a geodesic distance function on a surface is proposed, based on the application of Discrete Exterior calculus methods, which is characterized by a high computational efficiency. The developed algorithms and their software implementation were experimentally tested with the robotic microplasma spraying of a protective coating on the surface of a jaw crusher plate, which was then successfully operated for crushing mineral-based raw materials.

This article presents a tuned control algorithm for the speed and course of a four-wheeled automobile-type robot as a single nonlinear object, developed by the analytical approach of compensation for the object’s dynamics and additive effects. The method is based on assessment of external effects and as a result new, advanced feedback features may appear in the control system. This approach ensures automatic movement of the object with accuracy up to a given reference filter, which is important for stable and accurate control under various conditions. In the process of the synthesis control algorithm, an inverse mathematical model of the robot was built, and reference filters were developed for a closed-loop control system through external effect channels, providing the possibility of physical implementation of the control algorithm and compensation of external effects through feedback. This combined approach allows us to take into account various effects on the robot and ensure its stable control. The developed algorithm provides control of the robot both when moving forward and backward, which expands the capabilities of maneuvering and planning motion trajectories and is especially important for robots working in confined spaces or requiring precise movement into various directions. The efficiency of the algorithm is demonstrated using a computer simulation of a closed-loop control system under various external effects. It is planned to further develop a digital algorithm for implementation on an onboard microcontroller, in order to use the new algorithm in the overall motion control system of a four-wheeled mobile robot.

The paper presents a new method of path planning for an industrial robot manipulator performing thermal plasma spraying of coatings. Path planning and automatic generation of the manipulator motion program are performed using preliminary 3D surface scanning data from a laser trian-gulation distance sensor installed on the same robot arm. The new path planning algorithm is based on constructing a function of the geodesic distance from the starting curve. A new method for constructing a geodesic distance function on a surface is proposed based on the application of discrete exterior calculus methods characterized by high computational efficiency. The developed algorithms and their software implementation were experimentally tested through robotic mi-croplasma spraying of a protective coating on the surface of a jaw crusher plate, which was then successfully operated for crushing mineral raw materials.