Automatic Robot Path Planning for a GRC Spraying Cell

This paper deals with the automatic path planning modules of a robotized system for the production of Glass Reinforced Cement (GRC) panels of any geometry. The robot paths generated take into account several criteria including space and time optimization of the paths, non-roll up the glass fibre, avoidance of the singular positions of the robot and collision avoidance. The experimental results demonstrate high quality and uniformity in the manufactured panels together with high productivity.