title: Surface modeling of workpiece and tool trajectory planning for spray painting robot.
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.
authors.affiliation: School of Science, Jiangsu University, Zhenjiang, China.
authors.forename: Yang
authors.initials: Y
authors.lastname: Tang
authors.affiliation: School of Electronics and Information,Jiangsu University of Science and Technology, Zhenjiang, China.
authors.forename: Wei
authors.initials: W
authors.lastname: Chen
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D008962:Models, Theoretical; D010151:Paintings; D012371:Robotics / Q000379:methods*; D013499:Surface Properties