Abstract
The study deals with the automatic spraying by a six-degree-of-freedom industrial robot equipped with an air spray gun. Since the spraying path generation is manually performed by skilled workers using a teaching-playback function of a robot controller, time, experience, patience and skill are required. We aim to make robot control commands without special knowledge on spraying, in the case of internal faces of box-shaped workpieces. The system can generate a spraying path for the air spray gun automatically on the basis of some information on the workpiece and change the spraying path into robot control commands. From experimental results, the system is found to effective by coat internal faces of box-shaped workpieces with uniform paint thickness.
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