Task-Oriented Design Optimization for a Mobile Painting Robot

Abstract

Under the specific task requirement of mobile manipulators, the workspace analysis plays an indispensable role in the design and optimization of their geometric structure. To generate the most suitable workspace for mobile manipulators and cater to specific task requirement, the geometric structure parameter of mobile manipulators should be optimized and this need to consider the effective information from operated target. When deal with one specific operating task by painting one prototype room composed of vertical plane walls and ceilings, this research presents one novel method for designing and optimizing the structure parameter of mobile painting robot. To be specific, the feature extraction is executed for the operated target-prototype room, and the corresponding feature constraints function is established. Closely following this, under the given optimized goals, the optimized structure parameter of the mobile painting robot for specific operation will be obtained. What's more, to verify the validation of obtained structure parameter, the painting simulation platform via V-REP software is established, and the painting path which is attached with painting effect for painting the whole prototype room is analyzed initially. Last but not least, the smooth implementation of simulation process demonstrates that the optimized structure parameter can fulfill the task requirement, and this has actually confirmed one feasible way of task-oriented structure optimization for mobile painting robot.