Abstract
In this paper, the spatial trajectory optimization method of spray painting robot for 3D entity objects is proposed. A simple mathematic model of paint deposition rate is established by experimental method, and the 3D entity is patched by the surface modeling method based on FPAG. After planning the spray path on each patch, the improved GA algorithm and ACO algorithm are used to solve the TTOI problem. The feasibility of each algorithm is verified by simulation experiments. Finally, the spray painting experiments are carried out on the self-developed off-line programming experiment platform of spray painting robot and the results of two algorithms are compared. The experimental results show that the trajectory optimization of spray painting robot for 3D entity proposed can completely meet the requirements of the uniformity of paint thickness.
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