The Path Optimization of Spray Painting Robot for Two Path Pattern

Automatic trajectory generation for spray painting is highly desirable for today's automotive manufacturing. Generating paint gun trajectories for complex curved surfaces to satisfy paint thickness requirements is still highly challenging due to the complex geometry of surfaces. In this paper, based on existing of method which complex surfaces are divided into patches to satisfy the constraints, two path optimization algorithms for path pattern have been developed. Two algorithms are developed to optimize the spiral path and zigzag path on a patch by modifying the planning direction of paint gun path. The results of simulations have shown that the two path planning algorithms achieve satisfactory performance.