A novel trajectory planning scheme for spray painting robot with Bézier curves

In this paper, a novel trajectory planning for spray painting robot is introduced using Bézier curves. First, a spray painting model of Bézier surface is established, and the paint deposition rate function for Bézier surface is given. In order to ensure computational efficiency, a new curve, to be called T-Bézier curve is generated from T-Bézier basis. After the discrete points array on equidistant surface are found, a new trajectory planning scheme for spray painting robot based on the T-Bézier curves is developed. This paper investigates the Bézier trajectory generation for an industrial robot as the case study. The results confirmed that the proposed trajectory planning scheme along with the advised motion planning architecture is not only feasible for the spray painting robot but also yields a smooth trajectory with a satisfactory performance for all the joints. With this scheme, it is better to keep uniform speed of spray painting for complex curved surfaces.