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Journal of Robotics
The paper presents a motion planning method of redundant manipulator for painting uniform thick coating on the interior of irregular duct of some aircrafts. Discontinuous peripheral painting method is employed by analyzing the restrictions during painting the duct. For improving the longitudinal uniformity of thick coating, the interlacing painting method plans two sets of sweeping paths and an interlacing distance between the starting paths of the two times of painting. The interlacingdoi:10.1155/2016/4153757 fatcat:nwvsj7qsizhxdoa54tjc5xmaz4