A universal method for generating trajectories of robotic spraying processes

Currently, the complexity of workpiece shapes is increasing. To address this trend, robotic manipulators are extensively utilized for executing spraying and painting processes. However, trajectory generation remains a significant research challenge. This work introduces a universal method for generating parametric-controlled trajectories by navigating the cloud points on workpiece surfaces. The principal component analysis (PCA) method and the intersection method are employed to calculate normal vectors of cloud points on the sprayed or painted surface, aiming to maintain the torch as perpendicular to the surface as possible. A parametric zigzag spray path is then designed. Additionally, a prototype system with an intuitive user interface has been developed to integrate these functions. This system can generate a series of trajectory points from the input of a cloud-point surface and path parameters, automatically covering the entire surface directly.