Trajectory Optimization of Spray Painting Robot for Complex Curved Surface Based on Exponential Mean Bezier Method

摘要

Automated tool trajectory planning for spray painting robots is still a challenging problem, especially for a large complex curved surface. This paper presents a new method of trajectory optimization for spray painting robot based on exponential mean Bezier method. The definition and the three theorems of exponential mean Bezier curves are discussed. Then a spatial painting path generation method based on exponential mean Bezier curves is developed. A new simple algorithm for trajectory optimization on complex curved surfaces is introduced. A golden section method is adopted to calculate the values. The experimental results illustrate that the exponential mean Bezier curves enhanced flexibility of the path planning, and the trajectory optimization algorithm achieved satisfactory performance. This method can also be extended to other applications.