Robot path planning for spray coating: a frequency domain approach

Most modern spray deposition processes, such as spray painting or coating, are automated by using a robot to move an applicator over the surface being sprayed. Determining the robot path that creates the required coat thickness over the surface can be considered as an optimisation problem, which traditionally has been solved in the spatial domain. In this paper, results from sampling theory are used to transfer the problem into the spatial frequency domain. These results are used to determine the optimal path for a spraying application. The paper also shows how angled raster patterns can be combined to provide a continuous path over the surface that generates the required distribution of deposited material.