Spray Gun Trajectory Generation Based on Point Cloud Slicing

A method for generating the trajectory of spray painting robot directly is provided.First,the point cloud data is obtained by scanning the surface of work piece,then slicing the point cloud data to estimate the normal vectors of the sampled points,so robot trajectory is formed through offsetting the distance between spray gun and work piece along the normal vectors.Applying the point cloud slicing technique to planning robot trajectory improves the position,direction and distance control accuracy of painting robot,thus effectively raising the painting quality and throughput.