Set Up of a Robotized System for Interior Wall Painting

Although the use of spraying robotized systems for interior painting was already shown to be feasible and convenient, a lot of experiments must be carried out in the future to deliver a highly autonomous robot for interior painting. A new approach is proposed: two laboratories are set, the former being a full-scale and the latter a 1:4 scaled-down one, which is equipped with one robotized spraying machine (called “Pollock #1”). Thanks to its reduced size, less amount of raw materials, power supply, maintenance effort and wall surfaces for testing are required and experimental tests go quickly. This paper describes the experimental set-up constituting the scaled laboratory and analyzes proper trajectories for the robot’s spraying end-tool. In addition, the problem of re-scaling back the obtained results to full size buildings is addressed. Finally, the first experimental results obtained in the foregoing scaled laboratory are discussed, showing the very good performances of Pollock #1.