3-d model-based trajectory generation algorithm for robotic shoe sole spray system

Juhyun Kim, Sang Hyun Park, Dong Guan Shin, Min Gyu Kim, Seong Youb Chung, Myun Joong Hwang, Maolin Jin

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


In this paper, we propose a method to generate the trajectory of a robotic shoe sole spray system by extracting target points from a 3-D model of a mold sole. Point cloud transformation based on the mold 3-D file format, Z-Axis uppermost point extraction, elimination of unnecessary points, and final target point selection are sequentially performed. The Catmull- Rom algorithm is then applied to plan spline trajectory that allows the robot end effector to spray at a constant speed by following the extracted target points. The proposed algorithm is validated on the test bed of a shoe sole spray system. Through the proposed method, the adhesive can be uniformly dispensed to the sole of the shoe in an atypical shape without the process of extracting the work point using the vision system.

Original languageEnglish
Pages (from-to)825-832
Number of pages8
JournalJournal of the Korean Society for Precision Engineering
Issue number11
StatePublished - 2021


  • Feature extraction
  • Shoe sole spray system
  • Trajectory generation/Point clouds


Dive into the research topics of '3-d model-based trajectory generation algorithm for robotic shoe sole spray system'. Together they form a unique fingerprint.

Cite this