Research on Trajectory Planning of Spray Gun of Painting Robot on Free-form Surface

The trajectory planning method of the robotic spray painting with a coating growth model is proposed.The time and the coating thickness are selected as the optimization object,and the optimized time series about the spray gun working on the designated path are searched.By solving the constrained multi-object optimization problem,the optimized path of the spray gun is found.It can minimize the variance of the coating thickness and the time of the spray painting.The optimization method can decrease the number of optimization variables that represent the posture of the spray gun in the trajectory planning problem from 6 to 1.As a result,the complexity of the optimization problem is greatly predigested.