Optimal trajectory planning of spray manipulator for furniture surface painting

In this paper, we develop a robot manipulator for furniture coating and present robot manipulator composition and kinematic theory. The optimal path of applicator on a plane and a free-form surface are given on the basic of applying overlap distance and applicator velocity to solve optimize trajectory problem. The effect of the spray deposition rate on the applicator moving velocity is also considered. To test the effectiveness and prove the rationality, the process that robot manipulator moving in three dimensions was simulated on the Robotics Toolbox of MATLAB. The results appeared that the robot manipulator moving on the planned path is correct and feasible.