Generate Spiral Path

Function

This Step generates spiral path targets based on the input point cloud.

Usage Scenario

This Step is usually used for automatic spraying on flat objects.

Input and Output

  • Input:

  1. Surface of the object in the point cloud input to this port will have a spiral path generated.

  2. Depth map corresponding to the point cloud.

  3. Robot tool center point in the flange reference frame.

  • Output:

  1. Outside-to-in targets of generated path (except for the end target).

  2. End target of generated path.

  3. Orthographic projection 2D image of generated path.