Study on Trajectory Planning and Error Analysis of Automatic Spraying Robot on Steel Bridge Deck

To address the issues of low efficiency and poor uniformity in manually applying a waterproof bonding layer on steel deck surfaces, we developed an automated spraying robot. We established a mathematical model based on the spraying mechanism and utilized Simulink for trajectory planning simulations. The results demonstrated the robot's ability to rapidly track the target trajectory with quick convergence.Subsequently, we conducted operational simulations using the CoppeliaSim experimental platform to analyze the real-world performance of the spraying robot in a physics-based environment. Although some trajectory errors were observed during these simulations, they could be mitigated by optimizing the chassis parameters of the robot.Finally, through physical prototype testing, we analyzed the trajectory errors and optimized the control strategy by adjusting both the chassis parameters and the drive motor speeds. These adjustments brought the trajectory errors within an acceptable range. Prototype spraying tests confirmed the robot's capability to significantly enhance the efficiency and uniformity of the waterproof bonding layer application, indicating strong market potential.