Journal of Thermal Spray Technology

, Volume 28, Issue 5, pp 939–945 | Cite as

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

  • Zhenhua Cai
  • Xufeng Liang
  • Beigao ChenEmail author
  • Chunnian Zeng
  • Chen Chen
  • Zixin Mu
  • Tingyang Chen
Peer Reviewed


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.


cold spray curve discrete free-form surface geodesics optimal trajectory 



The work is supported by the National Natural Science Foundation of China (No. 61603281), the Fundamental Research Funds for the Central Universities (WUT: 2017IVB038), the Open Funds of the Key Lab of Digital Signal and Image Processing of Guangdong Province (No. 2017GDDSIPL-04), the WUT Start-Up Grant (40120173) and the Strategic Scientist Plan of Wuhan University of Technology.


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Copyright information

© ASM International 2019

Authors and Affiliations

  • Zhenhua Cai
    • 1
  • Xufeng Liang
    • 1
  • Beigao Chen
    • 1
    Email author
  • Chunnian Zeng
    • 1
  • Chen Chen
    • 1
  • Zixin Mu
    • 1
  • Tingyang Chen
    • 1
  1. 1.Automation SchoolWuhan University of TechnologyWuhanChina

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