Spraying Path Planning Method for Indoor Painting Robots with Uniform Paint Film Thickness

The Robot-City Interaction is one of the characteristics of smart cities. Painting robots have become an research focus for the development and application of intelligent construction. The indoor painting robot needs to ensure uniform paint film thickness during the spraying process in complex indoor environments. The relationship between the robot spraying path and thickness distribution was analyzed. The trajectory of the robot spraying path is planned in joint space and operating space. The plan method controls that the thickness distribution of the paint film after a single spray is between 15–20 μm. Based on MoveIt, robot motion planning was implemented, self collision detection and obstacle avoidance planning in the spraying environment were completed, and physical simulation environment validation was conducted. A hardware and software platform for the robot was designed and built. The autonomous spraying and the spraying path planning of the painting robot has been verified in the experiments.