A Survey on Autonomous Offline Path Generation for Robot-Assisted Spraying Applications
Alexander Miguel Weber, Ernesto Gambao, Alberto Brunete
Abstract
Robot-assisted spraying is a widespread manufacturing process for coating a multitude of mechanical components in an efficient and cost-effective way. However, process preparation is very time-consuming and relies heavily on the expertise of the robot programmer for generating the appropriate robot trajectory. For this reason, industry and academia investigate the possibility of supporting the end-user in the process by the use of appropriate algorithms. Mostly partial concepts can be found in the literature instead of a solution that solves this task end-to-end. This survey paper provides a summary of previous research in this field, listing the frameworks developed with the intention of fully automating the coating processes. First, the main inputs required for the trajectory calculation are described. The path-generating algorithm and its subprocesses are then classified and compared with alternative approaches. Finally, the required information for the executable output program is described, as well as the validation tools to keep track of program performance. The paper comes to the conclusion that there is a demand for an autonomous robot-assisted spraying system, and with a call-for-action for the implementation of the holistic framework.