A Novel Trajectory Planning Scheme for Spray Painting Robot with Bezier Curves

In this paper, a novel trajectory planning for spray painting robot is introduced using Bezier curves. First, a spray painting model of Bezier surface is established, and the paint deposition rate function for Bezier surface is given. In order to ensure computational efficiency, a new curve, to be called T-Bezier curve is generated from T-Bezier basis. After the discrete points array on equidistant surface are found, a new trajectory planning scheme for spray painting robot based on the T-Bezier curves is developed. This paper investigates the Bezier trajectory generation for an industrial robot as the case study. The results confirmed that the proposed trajectory planning scheme along with the advised motion planning architecture is not only feasible for the spray painting robot but also yields a smooth trajectory with a satisfactory performance for all the joints. With this scheme, it is better to keep uniform speed of spray painting for complex curved surfaces.