A Geodesic-Based Robot Trajectory Planning Approach for Cold Spray Applications

This paper presents a geodesic-based robot trajectory planning approach to fulfill the increasingly high reproducibility and coating quality requirements for cold spray applications. First, on the basis of Gauss–Bonnet theorem, the selection of a reference curve is discussed with the aim of minimizing the entire length of subsequent offset curves. An index sequence-based offset curve is created, and its discrete algorithm is then introduced to generate the optimal trajectory. Finally, a comparative experiment and analysis indicate that the presented trajectory planning approach can achieve coating thickness homogeneity.