1997 年 63 巻 610 号 p. 2167-2172
The study deals with automatic spraying by a six-degree-of-freedom industrial robot equipped with an air spray gun. The conventional spray generation system in which an operator teaches a robot using its teaching-playback function, requires the skillfulness and a lot of time for teaching. This study aims at making robot control commands without special knowledge of spraying, with the bumper of a car as an example of a sculptured surface. The system can generate a spraying path for the air spray gun automatically on the basis of CAD data of the workpiece and change the spraying path into robot control commands. From experimental results, the system is found to effectively coat a car bumper in uniform paint thickness.