Surface Modeling of Workpiece and Tool Trajectory Planning for Spray Painting Robot

Yang Tang and Wei Chen

PLOS ONE, 2015, vol. 10, issue 5, 1-9

Abstract: 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.

Date: 2015
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Persistent link: https://EconPapers.repec.org/RePEc:plo:pone00:0127139

DOI: 10.1371/journal.pone.0127139

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