The invention discloses a
robot spraying
trajectory planning method based on a large complex curved surface model. The method comprises the following steps that firstly,
mathematical model offline planning is conducted, specifically, region division is conducted on a workpiece model, and
robot positions corresponding to all sub-regions are determined; spray gun trajectories of all the sub-regionsare determined by adopting an
STL file-based parallel
slicing algorithm, and a
robot motion program is generated; and finally
motion analysis and interference checking are conducted on the
robot motion program. If the check is disqualified, region re-division needs to be conducted, the robot positions corresponding to all sub-regions are determined, and if the check is qualified, an actual spraying planning part is entered. The actual spraying planning comprises the following steps that the actual
pose of the workpiece is determined by using a vision
system, corresponding coordinate transformation is conducted on an offline planning result,
simulation analysis is conducted on the transformed motion program, finally, actual spraying can be conducted if the analysis is completely qualified,and otherwise, the offline planning result is properly re-adjusted. By adopting the method, the efficiency of large-scale complex curved surface spraying can be improved, the cost is reduced, and process parameter changing is easy to realize.