A Boolean operation based off-line full coverage path planning strategy for industry robot

This research aims to develop a robot trajectory rapid generation strategy for industry robots. On the basis of Boolean operation, this work is implemented in an off-line programming environment name Robotstudio (product of ABB, Swiss), the basic principle of this method is to generated a series of cutting curves by the Boolean operation between coating surface and an orthogonal surface, the cutting curve is then discrete and analyzed to obtain the robot trajectory points. As shown by our simulation results, this presented strategy is to determine series of appropriate path curves that can not only minimize the total length of subsequent curves but also ensure the distance consistency among offset curves, thus it is suitable for industry robot application.