The goal of this study is making up CIM of the painting process for large scale steel products. In this process, placer robot system is necessary to approach and spray paint on the workpiece. Unfortunately, dynamic efficiency of a placer is poor as a rule because of its insufficient stiffness. It causes fluctuation of the tool center point (TCP) in the trajectory, which has harmful effect on the film formation. In this paper, cooperative control of the placer-robot system is proposed to improve the TCP painting trajectory. TCP trajectory data and placer trajectory data with the moving pattern for vibration control are generated in the NC data generation system and given to the controller. In the controller, robot trajectory is generated from TCP and placer trajectory data, and compensates TCP trajectory. We studied various methods for such compensation through the dynamic response simulation of the placer-robot system, and found out that the compensation by the robot trajectory of wrist swing is effective in improving TCP trajectory. As a result of experiment in the prototype system for ship hull-block, significant improvement was confirmed in the film formation. In addition, method of the dynamic simulation for the film formation is also proposed. In this simulation, the response simulation above mentioned is linked to the quantitative process of coating.
