This paper presents research work aimed at path planning for continuous processes; we treat the general case and examine thermal spraying in particular. The objective is to simulate the process for the off-line programming of a sprayer robot. Integrating process models with the models of the robot and the workpieces in a single CAD "specialized application package" simplifies the preparation and optimization of spraying tasks. This article describes the principles and specifications of the application package, with emphasis on two aspects: process modeling itself, and motion generation satisfying constraint of thermal spraying.

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