Path planning based on robot posture control in spraying

In order to rapidly achieve intelligent spraying of shoe sole, a robotic spraying system was proposed in this work. The curved surface of shoe sole was obtained by laser sensor, and the contour curve of shoe sole was extracted. The spraying path was generated through calculating the offset curve of shoe sole. Moreover smooth processing of the spraying path was proceeded by using least square algorithm after segmenting the path curve. The robotic kinematics model was established. Meanwhile the reverse solutions of robotic joint kinematics were obtained to control robot posture. Finally we simulated and executed new algorithm with Yaskawa-robot. And the results showed that the deviations between actual positions and theoretical positions were in the range of allowable error for spraying. The results verified the feasibility of this algorithm.