Fringe Pattern Based Plane-to-Plane Visual Servoing for Robotic Spray Path Planning

Abstract

Robotic spray path planning is still a challenging task for large-scale structures because deformation is difficult to consider in conventional path planning, which can lead to the nonuniformity of paint film. To overcome this problem, a visual servoing approach based on fringe pattern projection is proposed to optimize the robotic spray path in this paper. In this method, the spray gun orientation is optimized to be perpendicular to the part surface at a desired distance during the spray procedure. Due to the textureless property of the surface of large-scale structures, the fringe pattern is shot onto the surface; thus, the deformed pattern directly reflects the position and orientation of the robot end-effector. Simulation experiments and real scenarios are used to demonstrate the validity and robustness of the proposed method. The results show that the proposed method would make automatic spray painting more feasible for large-scale structures.