A new point cloud slicing based path planning algorithm for robotic spray painting

摘要

In order to make traditional point cloud slicing algorithm suitable for robotic spray path planning of complex surface, four improvements are put forward in this paper. Firstly, adaptively choose the dominant eigenvector direction of oriented bounding box of spray target as the normal vector direction of the slicing plane. Secondly, propose intersection-projection joint segmentation method to obtain points for constructing spraying path. Thirdly, use polynomial fitting and uniform interpolation method to construct smooth spray path. Finally, propose an iteration formula of interval between adjacent slicing planes to obtain equal distance spray path for variable curvature surfaces. Numerical examples show that the proposed algorithm can generate robotic spraying path directly from point cloud model, and suitable for complex, irregular shape spray target.