Automation of spray-painting by an industrial robot (for the case of sculptured surface)

摘要

The study deals with automatic spraying by a six-degree-of-freedom industrial robot equipped with an air spray gun. The conventional spray generation system in which an operator teaches a robot using its teaching-playback function, requires the skillfulness and a lot of time for teaching. This study aims at making robot control commands without special knowledge of spraying, with the bumper of a car as an example of a sculptured surface.