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An automatic trajectory planning system (ATPS) for painting robots is developed. Geometric modeling, painting mechanics, and robot dynamics are considered to produce an optimal trajectory (in the sense of coating uniformity and painting time) based on the CAD data describing the shape of objects. The scheme was implemented on a SUN/4 workstation to develop an ATPS for painting robots. To test the effectiveness and illustrate the developed system, numerous experiments were performed and analyzed. The practical application of the developed system is for planning an optimal robot trajectory such that uniform coating thickness is achieved in minimum painting time.>
Suh et al. (Tue,) studied this question.