Investigation of a procedure for the simulation-basedoptimisation of robot paths for thermal spraying

In spite of the fact that robot technology is available in many cases, automated path planning and optimisation methods (PPOMs) for thermal spraying processes have only restricted applications in industrial practice, especially at small and medium-sized enterprises (SMEs). One particular problem is the great scope of work required for workpieces with complex shapes in order to create robot paths which achieve the desired coating thickness distribution taking account of the robot dynamics. This article investigates a largely automatic, computer-assisted procedure which adapts a given robot path (which already constitutes a possible solution to the coating problem) into a path which achieves an optimised coating thickness distribution. The procedure utilises a simulation in order to establish the coating formation process during the execution of a robot path. The optimisation occurs locally as a result of an efficient gradient descent procedure. An experimental evaluation shows the potential of the procedure.