Tool Trajectory Optimization of Robotic Spray Painting

A model of paint deposition rate is established according to the experimental data. A complex curved surface has to be divided into several patches and trajectory optimization for each patch is performed. Optimization processes are developed to optimize the paint thickness for a surface with multiple patches.The pattern search method is adopted to optimize the parameters. A workpiece, which is a complex curved surface, is used to test the scheme. The results of experiments have shown that the trajectory optimization algorithm achieves satisfactory performance. This algorithm can also be extended to other applications.