Through an analysis of the kinematics and dynamics relations between the target positioning of manipulator joint angles of an apple-picking robot, the sliding-mode control (SMC) method is introduced into robot servo control according to the characteristics of servo control. However, the biggest problem of the sliding-mode variable structure control is chattering, and the speed, inertia, acceleration, switching surface, and other factors are also considered when approaching the sliding die surface. Meanwhile, neural network has the characteristics of approaching non-linear function and not depending on the mechanism model of the system. Therefore, the fuzzy neural network control algorithm can effectively solve the chattering problem caused by the variable structure of the sliding mode and improve the dynamic and static performances of the control system. The comparison experiment is carried out through the application of the PID algorithm, the sliding mode control algorithm, and the improved fuzzy neural network sliding mode control algorithm on the picking robot system in the laboratory environment. The result verified that the intelligent algorithm can reduce the complexity of parameter adjustments and improve the control accuracy to a certain extent.

In this paper, a new practical electrostatic rotating bell (ESRB) cumulative rate model of painting is derived, and an experimental study on painting is carried out. First, the experimental method is used to obtain the radial thickness profile function of the spatial paint distribution of static spray. Then, a spatial trajectory-planning scheme for a spray-painting robot based on a rectangular model is presented. This method designs the spatial path of the spray-painting robot by using the cuboid model method after the optimal value is taken as the width d of the overlapping area of the two spray-painting strokes in the plane. The experimental results illustrate that the paint thickness basically meets the requirements, and the experimental results verify the effectiveness of the trajectory optimization method.

In this research, a novel method of space spraying trajectory optimization is proposed for 3D entity spraying. According to the particularity of the three-dimensional entity, the finite range model is set up, and the 3D entity is patched by the surface modeling method based on FPAG (flat patch adjacency graph). After planning the spray path on each patch, the variance of the paint thickness of the discrete point and the ideal paint thickness is taken as the objective function and the trajectory on each patch is optimized. The improved GA (genetic algorithm), ACO (ant colony optimization), and PSO (particle swarm optimization) are used to solve the TTOI (tool trajectory optimal integration) problem. The practicability of the three algorithms is verified by simulation experiments. Finally, the trajectory optimization algorithm of the 3D entity spraying robot can improve the spraying efficiency.

The trajectory optimization of automatic spraying robot is still a challenging problem, which is very important in the whole spraying work. Spray trajectory optimization consists of two parts: spray space path and end-effector moving speed. A large number of spraying experiments have proved that it is very important to find the best initial trajectory of spraying. This paper presents an automatic spray trajectory optimization that is based on the Bézier surface. Spray the workpiece for Bezier triangular surface modeling and find the best initial trajectory of the spraying robot, establish the appropriate spraying model, plan the appropriate space path, and finally plan the trajectory optimization along the specified painting path. The validity and practicability of the method presented in this paper are proved by an example. This method can also be extended to other applications.

Automated tool trajectory planning for spray-painting robots is still a challenging problem, especially for a large free-form surface. A grid approximation of a free-form surface is adopted in CAD modeling in this paper. A free-form surface model is approximated by a set of flat patches. We describe here an efficient and flexible tool trajectory optimization scheme using T-Bézier curves calculated in a new way from trigonometrical bases. The distance between the spray gun and the free-form surface along the normal vector is varied. Automotive body parts, which are large free-form surfaces, are used to test the scheme. The experimental results show that the trajectory planning algorithm achieves satisfactory performance. This algorithm can also be extended to other applications.

This paper studies the problem of distributed containment control for multi-agent systems with high-order dynamics and input delays. Two event-triggered control algorithms are proposed for multi-agent systems without and with input delay, respectively. The communication instants between two linked followers are determined by the event-triggering condition, and every follower can detect the event based on its own control input. For the followers, edge-based estimators are adopted to predict state differences to neighbors. Control inputs of the followers are calculated based on the predicted values of the state differences. To deal with the input delay, a delay comprehension approach is developed. It is proved that for arbitrarily large but bounded input delays, the followers can move into the convex hull spanned by the leaders asymptotically. Simulation results show the effectiveness of the proposed algorithms.