Abstract
This paper presents an analysis of a 6-DOF robot trajectory planning for spray coating application using Blender open source software based on workpiece orientation. Four common workpiece orientations were chosen to be simulated and analyzed. The four chosen trajectories were taken from the mesh surface of workpiece model with their own corresponding workpiece orientation. Over these predetermined task trajectory and a fixed assigned task time, the iterative changes of the six joint angles were generated using Blender built-in Jacobian inverse kinematic solver. From the obtained real-time data, the six joint angle real time curves with respect to the sampled time were then plotted. The angular velocity and angular acceleration curves were then derived from these joint angle curves. Regarding to all of these curves, the optimal task trajectory was then chosen.
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