AUTOMATIC TRAJECTORY PLANNING SYSTEM (ATPS) FOR SPRAY PAINTING ROBOTS

Abstract

In this paper, we develop an automatic trajectory planning system (ATPS) for painting robots by a new scheme. This systems considers geometric modeling, painting mechanics, and robot dynamics to output an optimal trajectory (in the sense of coating uniformity and painting time) based on the CAD data describing the shape of objects. The new scheme is implemented on a SUN/4 workstation to develop an ATPS for painting robots. To test effectiveness and illustrate the developed system, numerous experiments are performed and analyzed. The practical application of the developed system is to plan an optimal robot trajectory that results in uniform coating thickness in minimum painting time.