Path planning scheme for spray painting robot with Bézier curves on complex curved surfaces

Surface modeling of spraying work-piece is the first step of spraying robot path optimization. In this paper, a surface modeling method is proposed by using Bézier curves. The Bézier polynomial surface is constructed based on Bernstein polynomials. And each triangular in the surface of the Bézier triangular surface is called the B-B triangle. The B-B triangulation algorithm is proposed. Then a new path planning scheme for spray painting robot based on the Bézier curves is developed. This paper investigates the Bézier path generation for an industrial robot as the case study. The results confirmed that the proposed path planning scheme along with the advised motion planning architecture is not only feasible for the spray painting robot but also yields a smooth path with a satisfactory performance for all the joints. With this scheme, it is better to keep uniform speed of spray painting for complex curved surfaces.