Optimal Paint Gun Orientation in Spray Paint Applications—Experimental Results

摘要

In this paper, we present the experimental results of a new spray paint algorithm presented in previous publications. Both theory and simulations indicate that the proposed method allows a robotic manipulator to paint a given surface using substantially lower joint torques than with conventional approaches. In this paper, we confirm this by implementing the algorithm on an ABB robot and we find that the joint torques needed to follow the trajectory are substantially lower than for the conventional approach.