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

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.