Trajectory optimization of painting robot and experimental for free-form surfaces

Spray painting is an important process in the manufacturing of many products, such as automobiles, airplanes, etc. Now the automated trajectory planning of automatic spraying painting equipment is still a challenging problem, especially for free-form parts. Hence, the research of new mathematical methods for automated trajectory planning is very important. Because the current paint deposition rate function is too complicated, the paint accumulation on a surface is proposed. In order to achieve the new spraying operation standards, the paint thickness function for free-form surfaces is also given. A multi-objective constraint optimization problem is formulated. And the parallel-perpendicular case of trajectory planning for a surface with two patches is proposed. A workpiece is used to test the scheme. And the experimental results illustrate the feasibility and availability of the algorithm.