A Framework for CAD and Scanner-based Robotic Coating Automation

Coating automation of a complex product family with unknown features is investigated. A CAD and scanner-based robotic coating system is proposed. The system is capable of creating robotic programs for different products automatically. Unpredicted features are detected by sensors when a product is loaded into the system. Other features are known from the product CAD model. All of the features are merged together to create an accurate surface model. The system generates robotic paths and trajectories based on the surface model. A system framework and methodology for path and trajectory generation is proposed.