Generate Spiral Path

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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 the path

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